Generation of one or more edges of luminosity to form three-dimensional models of objects

ABSTRACT

Disclosed herein are various embodiments related generally to computer vision, graphics, image scanning, and image processing as well as associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to form at least three-dimensional models or images of objects and environments.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/906,675 filed Jun. 19, 2020, which is a continuation of U.S. patentapplication Ser. No. 16/496,338 filed Sep. 20, 2019, which is the U.S.National Stage Application of International Application No.PCT/US18/54653 filed Oct. 5, 2018, which claims benefit of U.S.Provisional Patent Application No. 62/569,353 filed Oct. 6, 2017. Thecontents of these applications are hereby incorporated by reference intheir entirety.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

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BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention is in the technical field of scanning devices.More particularly, the preferred embodiments of the present inventionrelate generally to scanning devices, which generate three-dimensionalmodels of the object being scanned. More particularly, the preferredembodiments of the present invention relate generally to apparatuses,systems and methods, which use shadow casters to generatethree-dimensional models of objects or areas being scanned.

2. Description of the Related Art

Advances in computing hardware and software have facilitated thegeneration of three-dimensional models and digital imagery that convey ashape of an object in three-dimensional space. Conventional computingtechniques and devices are implemented as three-dimensional (“3D”)scanners to form three-dimensional models of the surface of an objectbeing scanned. Of these, structured-light scanner systems usually usecomplex patterns of light and one or multiple camera systems to captureimages representing a shape of an object in three dimensions. Whiletraditional structured-light scanner systems are functional, they arenot well suited to apply to a wide range of applications because thesesystems typically require materials and resources that make the scannerscost prohibitive. For instance, such scanners employ lasers and/orliquid crystal display (“LCD”) projectors, as well as other computinghardware and algorithms that need to process the complicated lightpatterns and imaging techniques associated with such scanners.

At least in one approach, a scanning technique using “weak-structured”light has been developed to address one of the limitations of thestructured-light scanner systems. A traditional weak-structuredlight-based scanner typically employs simple incandescent lights and/ora rod (e.g., pencil) to capture images from which a surface of an objectmay be derived. An example of such a scanner system is depicted inFIG. 1. Diagram 100 depicts a simple incandescent light bulb 102 and arod 114, or any other cylindrical object, such as a pencil, for applyinga shadow onto a plane 110 to capture the shape of object 116. Light bulb102 includes a filament 104 extending between supports at distance (“d”)106 within a glass enclosure, which may be formed of a clear, unfrostedglass. Filament 104 typically generating light along a relatively widerange of distances relative to a width of rod 114. Generally, filament104 may be positioned in a plane that is not parallel to rod 114. Acamera 101 may be used to capture images of points that can be used tocompute the surface of 116. To capture the images of points, rod 114 isused to apply a shadow over object 116 to try to determine a relativedepth of a pixel on the surface of object 116 as captured by camera 101(e.g., relative to the pixel at a point in time when object 116 isabsent).

The scanner in FIG. 1 suffers a number of drawbacks. While the scannerof FIG. 1 is functional, the system of diagram 100 may not be wellsuited to model 3D imagery for three-dimensional objects. White lightbulb 102 and rod 114 may generate a shadow 120 that includes a zone 121of minimal illumination from a given light bulb 102. At furtherdistances 122 from rod 114, the boundaries between zone 121 andilluminated portions 111 of plane 110 become increasingly diffuse. Anexample of increasing illumination diffusivity may be depicted asincreasing from line 122 out along line 114 within distance (“b”) 126,which illustrates a diffused boundary between zone 121 of minimalillumination and an illuminated portion 111. To counter the deleteriouseffects of the diffused boundary, conventional approaches to 3D scanningrely on a threshold of illumination in conjunction with temporal orvideo-frame coordinates and an associated algorithm to define a boundarybased on sufficient differences between darkness and lightness. Adiffused boundary may reduce accuracy of a surface computed from thecaptured image of object 116. Also, using a threshold of illumination,while operational, may require disregarding luminous effects ofdifferent colors, shades, or textures. For example, the color “yellow”may have a higher luminance that may be distinguishable from the effectsof the diffused boundary, whereas the color “blue” may have a relativelylower luminance that may be detected as being part of the diffusedboundary. As such, blue portion 117 of object 116 may be disregarded dueto the implementation of a traditional threshold of illumination. Hence,colors and other luminous effects often cause this disregarding, aninaccuracy that is manifest in conventional 3D scanning. In someapproaches, algorithmic computations are employed to classify whether apixel is illuminated or not. These known algorithms, however, areusually limited to distinguishing between relatively substantial swingsbetween brightness and darkness. Such thresholding may require resourcesto customize and adapt the scanner of diagram 100 to specific scanningapplications.

Thus, what is needed is a solution for facilitating techniques togenerate three-dimensional models or images of objects and environments,without the limitations of conventional techniques.

SUMMARY OF THE INVENTION

Various embodiments relate generally to computer vision, graphics, imagescanning, and image processing as well as associated mechanical,electrical and electronic hardware, computer software and systems, andwired and wireless network communications to form at leastthree-dimensional models or images of objects and environments. Thebroad embodiments of the present invention relates generally toapparatuses, methods, and systems, for generating one or more edges ofluminosity to form three-dimensional models of objects or environments.In broad embodiment, the present invention comprises one or more lightsources and one or more shadow casters, which generate one or more edgesof luminosity across objects or areas being modeled, one or more meansof detecting the one or more edges of luminosity, a means of moving theone or more edges of luminosity relative to the objects or areas beingmodeled, and a means of generating three-dimensional models of theobjects or areas being modeled, as well as related methods and systems.Most of the shadow casters in these embodiments comprise a shape with atleast one edge, said edge being contained within a plane, which containssaid one or more light sources, or, in other words, a shape with atleast one straight edge when said shape is projected by said one or morelight sources onto a plane. Some embodiments move the one or more shadowcasters, some embodiments move the one or more light sources, and someembodiments move the object through the one or more edges of luminosity.These embodiments are exemplary of the scope and spirit of the presentinvention; however, the above described embodiments and examples shouldnot limit the present invention, and those of ordinary skill willunderstand and appreciate the existence of variations, combinations, andequivalents of the specific embodiment, method, and examples herein.

In a preferred embodiment, the present invention relates broadly toapparatuses and methods, which move one or more shadow casters in orderto move one or more edges of luminosity relative to the objects or areasbeing modeled. This embodiment relates generally to an apparatus forgenerating one or more edges of luminosity to form three-dimensionalmodels of an object, said apparatus comprising: one or more lightsources; one or more shadow casters, said one or more shadow casterscomprising: a shape with at least one edge, said edge being containedwithin a plane, which contains said one or more light sources; one ormore actuators, said actuators being capable of moving said one or moreshadow casters; one or more image capture devices; a memory stored innon-transitory computer-readable medium; a processor, said processorcomprising: said computer-readable medium; and a display; wherein saidone or more light sources illuminate said one or more shadow casters toproject high contrast shadows of known geometry, which form said one ormore edges of luminosity on said object; wherein said one or moreactuators move said one or more shadow casters in order to sweep saidone or more edges of luminosity across said object; wherein said one ormore image capture devices capture images of said one or more edges ofluminosity on said object and record said images into said memory;wherein said processor forms a three-dimensional data representationfrom recorded said images; wherein said processor generates saidthree-dimensional model of said object using said three-dimensional datarepresentation; and wherein said three-dimensional model is displayed onsaid display using said processor. This preferred embodiment alsorelates generally to a method for generating one or more edges ofluminosity to form three-dimensional models of an object, said methodcomprising: providing one or more light sources; providing one or moreshadow casting elements, said one or more shadow casting elementscomprising: a shape with at least one edge, said edge being containedwithin a plane, which contains said one or more light sources;projecting high contrast shadows of known geometry to form said one ormore edges of luminosity on said object using said one or more lightsources and said one or more shadow casting elements; moving said one ormore shadow casting elements in order to move said one or more edges ofluminosity across said object; capturing images of said one or moreedges of luminosity on said object; forming a three-dimensional datarepresentation from captured said images; generating saidthree-dimensional model of said object using said three-dimensional datarepresentation; and displaying said three-dimensional model. Otherversions of this broad embodiment have one or more light sources, whichare discrete or continuous, linear, or comprise one or more arrays oflights. Other versions of this embodiment base the shape of the one ormore shadow casters on the object being scanned and modeled, such asthrough three-dimensional printing techniques. Additionally, someversions of this embodiment use one or more shadow casters, whichfurther comprise configurable shapes, configurable opacity, or colorfilters. Other versions of this embodiment use one or more actuators torotate the one or more shadow casters. Moreover, some versions of thisembodiment use a display, which is an augmented reality headset that canoverlay the three-dimensional model over the view of a user of theheadset.

In another preferred embodiment, the present invention relates broadlyto apparatuses and methods, which move one or more light sources inorder to move one or more edges of luminosity relative to the objects orareas being modeled. This embodiment relates generally to an apparatusfor generating one or more edges of luminosity to form three-dimensionalmodels of an object, said apparatus comprising: one or more lightsources; one or more shadow casters, said one or more shadow casterscomprising: a shape with at least one edge, said edge being containedwithin a plane, which contains said one or more light sources; one ormore actuators, said actuators being capable of moving said one or morelight sources; one or more image capture devices; a memory stored innon-transitory computer-readable medium; a processor, said processorcomprising: said computer-readable medium; and a display; wherein saidone or more light sources illuminate said one or more shadow casters toproject high contrast shadows of known geometry, which form said one ormore edges of luminosity on said object; wherein said one or moreactuators move said one or more light sources in order to sweep said oneor more edges of luminosity across said object; wherein said one or moreimage capture devices capture images of said one or more edges ofluminosity on said object and record said images into said memory;wherein said processor forms a three-dimensional data representationfrom recorded said images; wherein said processor generates saidthree-dimensional model of said object using said three-dimensional datarepresentation; and wherein said three-dimensional model is displayed onsaid display using said processor. This preferred embodiment alsorelates generally to a method for generating one or more edges ofluminosity to form three-dimensional models of an object, said methodcomprising: providing one or more light sources; providing one or moreshadow casting elements, said one or more shadow casting elementscomprising: a shape with at least one edge, said edge being containedwithin a plane, which contains said one or more light sources;projecting high contrast shadows of known geometry to form said one ormore edges of luminosity on said object using said one or more lightsources and said one or more shadow casting elements; moving said one ormore light sources in order to move said one or more edges of luminosityacross said object; capturing images of said one or more edges ofluminosity on said object; forming a three-dimensional datarepresentation from captured said images; generating saidthree-dimensional model of said object using said three-dimensional datarepresentation; and displaying said three-dimensional model. Otherversions of this broad embodiment have one or more light sources, whichare discrete or continuous, linear, or comprise one or more arrays oflights. Other versions of this embodiment base the shape of the one ormore shadow casters on the object being scanned and modeled, such asthrough three-dimensional printing techniques. Additionally, someversions of this embodiment use one or more shadow casters, whichfurther comprise configurable shapes, configurable opacity, or colorfilters. Furthermore, other versions of this embodiment use one or moreactuators to rotate the one or more shadow casters. Moreover, someversions of this embodiment use a display, which is an augmented realityheadset that can overlay the three-dimensional model over the view of auser of the headset.

In another preferred embodiment, the present invention relates broadlyto apparatuses and methods, which move the object being modeled throughthe one or more edges of luminosity. This embodiment relates generallyto an apparatus for generating one or more edges of luminosity to formthree-dimensional models of an object, said apparatus comprising: one ormore light sources; one or more shadow casters, said one or more shadowcasters comprising: a shape with at least one edge, said edge beingcontained within a plane, which contains said one or more light sources;one or more image capture devices; a memory stored in non-transitorycomputer-readable medium; a processor, said processor comprising: saidcomputer-readable medium; and a display; wherein said one or more lightsources illuminate said shadow casters to project high contrast shadowsof known geometry, which form said one or more edges of luminosity;wherein said object moves through said one or more edges of luminosityin order to sweep said one or more edges of luminosity across saidobject; wherein said one or more image capture devices detect the motionof said object moving through said one or more edges of luminosity andrecords said motion into said memory; wherein said one or more imagecapture devices capture images of said one or more edges of luminosityon said object moving through said one or more edges of luminosity andrecord said images into said memory; wherein said processor calculatesthe velocity of said object moving through said one or more edges ofluminosity from recorded said motion; wherein said processor forms athree-dimensional data representation from recorded said images andcalculated said velocity; wherein said processor generates saidthree-dimensional model of said object using said three-dimensional datarepresentation; and wherein said three-dimensional model is displayed onsaid display. This preferred embodiment also relates generally to amethod for generating one or more edges of luminosity to formthree-dimensional models of an object, said method comprising: providingone or more light sources; providing one or more shadow castingelements, said one or more shadow casting elements comprising: a shapewith at least one edge, said edge being contained within a plane, whichcontains said one or more light sources; projecting high contrastshadows of known geometry to form said one or more edges of luminosityon said object using said one or more light sources and said one or moreshadow casting elements; moving said object through said one or moreedges of luminosity; detecting the velocity of said object movingthrough said one or more edges of luminosity; capturing images of saidone or more edges of luminosity on said object moving through said oneor more edges of luminosity; forming a three-dimensional datarepresentation from detected said velocity and captured said images;generating said three-dimensional model of said object using saidthree-dimensional data representation; and displaying saidthree-dimensional model. Other versions of this broad embodiment haveone or more light sources, which are discrete or continuous, linear, orcomprise one or more arrays of lights. Other versions of this embodimentbase the shape of the one or more shadow casters on the object beingscanned and modeled, such as through three-dimensional printingtechniques. Additionally, some versions of this embodiment use one ormore shadow casters, which further comprise configurable shapes,configurable opacity, or color filters. Other versions of thisembodiment use one or more actuators to rotate the one or more shadowcasters. Moreover, some versions of this embodiment use a display, whichis an augmented reality headset that can overlay the three-dimensionalmodel over the view of a user of the headset. Still other version ofthis embodiment are installed in a room and mounted on the ceiling withsimilar versions having the one or more light sources mounted on theceiling.

In another preferred embodiment, the present invention relates broadlyto apparatuses and methods, which model the surroundings of an object.This embodiment relates generally to an apparatus for generating one ormore edges of luminosity to form, said apparatus comprising: one or morelight sources, said one or more light sources being mounted on saidobject; one or more shadow casters, said one or more shadow castersbeing mounted on said object and comprising: a shape with at least oneedge, said edge being contained within a plane, which contains said oneor more light sources; one or more actuators, said actuators beingcapable of moving said one or more shadow casters; one or more imagecapture devices, said one or more image capture devices being mounted onsaid object; a memory stored in non-transitory computer-readable medium;and a processor, said processor comprising: said computer-readablemedium; wherein said one or more light sources illuminate said one ormore shadow casters to project high contrast shadows of known geometry,which form said one or more edges of luminosity on said surroundings ofsaid object; wherein said one or more actuators move said one or moreshadow casters in order to sweep said one or more edges of luminosityacross said surroundings of said object; wherein said one or more imagecapture devices capture images of said one or more edges of luminosityon said surroundings of said object and record said images into saidmemory; wherein said processor forms a three-dimensional datarepresentation from recorded said images; wherein said processorgenerates said three-dimensional model of said surroundings of saidobject using said three-dimensional data representation; and whereinsaid three-dimensional model is stored in said memory. This preferredembodiment also relates generally to a method for generating one or moreedges of luminosity to form three-dimensional models of the surroundingsof an object, said method comprising: providing one or more lightsources, said one or more light sources being mounted on said object;providing one or more shadow casting elements, said one or more shadowcasting elements being mounted on said object and comprising: a shapewith at least one edge, said edge being contained within a plane, whichcontains said one or more light sources; projecting high contrastshadows of known geometry to form said one or more edges of luminosityon said surroundings of said object using said one or more light sourcesand said one or more shadow casting elements; moving said one or moreshadow casting elements in order to move said one or more edges ofluminosity across said surroundings of said object; capturing images ofsaid one or more edges of luminosity on said surroundings of saidobject; forming a three-dimensional data representation from capturedsaid images; generating said three-dimensional model of saidsurroundings of said object using said three-dimensional datarepresentation; and storing said three-dimensional model innon-transitory computer-readable medium. Other versions of this broadembodiment have one or more light sources, which are discrete orcontinuous, linear, or comprise one or more arrays of lights.Additionally, some versions of this embodiment use one or more shadowcasters, which further comprise configurable shapes, configurableopacity, or color filters. Furthermore, some versions of this embodimentuse an augmented reality headset and display the model overlaid on thesurroundings of the object, while similar versions display the modeloverlaid on the surroundings of the augmented reality headset. Moreover,this embodiment of the present invention may be used on a vehicle, suchas for use as artificial vision for an autonomous automobile orsubmersible vehicle, in which case the apparatus comprises waterresistant parts. Similarly, this embodiment may be used for artificialvision for a robot.

In another preferred embodiment, the present invention relates broadlyto apparatuses and methods, which model the surroundings of an objectusing a static shadow caster. This embodiment relates generally to anapparatus for generating one or more edges of luminosity to formthree-dimensional models of the surroundings of an object, saidapparatus comprising: one or more light sources, said one or more lightsources being mounted on said object; one or more shadow casters, saidone or more shadow casters being mounted on said object and comprising:a shape with at least one edge, said edge being contained within aplane, which contains said one or more light sources; one or more imagecapture devices, said one or more image capture devices being mounted onsaid object; a memory stored in non-transitory computer-readable medium;and a processor, said processor comprising: said computer-readablemedium; wherein said one or more light sources illuminate said one ormore shadow casters to project high contrast shadows of known geometry,which form said one or more edges of luminosity on said surroundings ofsaid object; wherein said object moves through said surroundings of saidobject in order to sweep said one or more edges of luminosity acrosssaid surroundings of said object; wherein said one or more image capturedevices capture images of said one or more edges of luminosity on saidsurroundings of said object and record said images into said memory;wherein said processor forms a three-dimensional data representationfrom recorded said images; wherein said processor generates saidthree-dimensional model of said surroundings of said object using saidthree-dimensional data representation; and wherein saidthree-dimensional model is stored in said memory. This preferredembodiment also relates generally to a method for generating one or moreedges of luminosity to form three-dimensional models of the surroundingsof an object, said method comprising: providing one or more lightsources, said one or more light sources being mounted on said object;providing one or more shadow casting elements, said one or more shadowcasting elements being mounted on said object and comprising: a shapewith at least one edge, said edge being contained within a plane, whichcontains said one or more light sources; projecting high contrastshadows of known geometry to form said one or more edges of luminosityon said surroundings of said object using said one or more light sourcesand said one or more shadow casting elements; moving said object inorder to move said one or more edges of luminosity across saidsurroundings of said object; capturing images of said one or more edgesof luminosity on said surroundings of said object; forming athree-dimensional data representation from captured said images;generating said three-dimensional model of said surroundings of saidobject using said three-dimensional data representation; and storingsaid three-dimensional model in non-transitory computer-readable medium.Other versions of this broad embodiment have one or more light sources,which are discrete or continuous, linear, or comprise one or more arraysof lights. Additionally, some versions of this embodiment use one ormore shadow casters, which further comprise configurable shapes,configurable opacity, or color filters. Furthermore, some versions ofthis embodiment use an augmented reality headset and display the modeloverlaid on the surroundings of the object, while similar versionsdisplay the model overlaid on the surroundings of the augmented realityheadset. Moreover, this embodiment of the present invention may be usedon a vehicle, such as for use as artificial vision for an autonomousautomobile or submersible vehicle, in which case the apparatus compriseswater resistant parts. Similarly, this embodiment may be used forartificial vision for a robot.

In the most preferred embodiment, the present invention relatesgenerally to an apparatus for generating one or more edges of luminosityto form three-dimensional models of an object, said apparatuscomprising: an outer housing, said outer housing comprising: a backpanel, said back panel comprising: a camera opening, a top panel, andtwo side panels, said side panels comprising: a pivot point; a shadowcaster, said shadow caster comprising: a front segment, said frontsegment being rectangular, two side segments, each said side segmentdepending perpendicularly from opposite ends of said front segment, eachsaid side segment comprising: a triangular shape, and a shoulder mount,each said shoulder mount comprising: a shoulder screw hole, and ashoulder screw, said shoulder screw being rotatably attached to saidside panel using a nut, and a tab, said tab depending from one said sidesegment; an actuator assembly, said actuator assembly comprising: anactuator arm, said actuator arm depending from said outer housing, anactuator motor, said actuator motor depending from said actuator arm,and an actuator connector, said actuator connector depending from saidactuator motor and connecting to said tab of said shadow caster; a lightsource, said light source being discrete, continuous, linear, andextending between said shoulder screws of said shoulder mounts of saidside segments of said shadow caster; a video cameras assembly, saidvideo camera assembly extending through said camera opening of said backpanel of said outer housing, said video camera assembly comprising: avideo camera support platform, and a video camera, said video camerabeing mounted on said video camera support platform, said video cameracomprising: a camera lens, a camera sync port, a video output port, anda control port; a memory stored in non-transitory computer-readablemedium; a processor, said processor comprising: said computer-readablemedium; and a display; wherein said light source illuminates said shadowcaster to project high contrast shadows of known geometry, which formsaid one or more edges of luminosity on said object; wherein saidactuator motor moves said shadow caster in order to sweep said one ormore edges of luminosity across said object; wherein said video cameracaptures images of said one or more edges of luminosity on said objectand record said images into said memory; wherein said processor forms athree-dimensional data representation from recorded said images; whereinsaid processor generates said three-dimensional model of said objectusing said three-dimensional data representation; and wherein saidthree-dimensional model is displayed on said display using saidprocessor. Other versions of this embodiment base the shape of the oneor more shadow casters on the object being scanned and modeled, such asthrough three-dimensional printing techniques. Additionally, someversions of this embodiment use one or more shadow casters, whichfurther comprise configurable shapes, configurable opacity, or colorfilters. Moreover, some versions of this embodiment use a display, whichis an augmented reality headset that can overlay the three-dimensionalmodel over the view of a user of the headset. Other version of thisembodiment use a front segment of the shadow caster with multiple frontsections and side segments with multiple side sections. Additionalversions are used in a room with the apparatus mounted on the ceiling.For a particular application, a version of this embodiment may be usedto scan a whole person and generate a three-dimensional model of theskin of the person, such as for use in dermatology for creating a map ofmoles or skin lesions, or inspecting a patient for skin cancer orsimilar ailments, or the like. As another specific application of themost preferred embodiment of the present invention, the apparatus may beused during brain surgery of a patient, with the apparatus furthercomprising a drape, which conforms to said outer housing of theapparatus and is capable of protecting the patient from contamination,and a clamp assembly, which is capable of fixing the position of theapparatus relative to the patient. This preferred embodiment alsorelates generally to a method of using the apparatus for brain surgeryof a patient, said method comprising: draping said apparatus with adrape, said drape conforming to said outer housing of said apparatus andbeing capable of protecting said patient from contamination; aligningsaid apparatus with said patient; focusing said video camera of saidapparatus on said patient; starting to record video of said patientusing said video camera; sweeping said one or more edges of luminosityacross said patient using said actuator motor; capturing images of saidone or more edges of luminosity on said patient using said video camera;stopping to record video of said patient; collecting and analyzing saidimages using said processor; forming a three-dimensional datarepresentation from said images using said processor; generating saidthree-dimensional model of said patient using said three-dimensionaldata representation using said processor; and displaying saidthree-dimensional model on said display using said processor. Thispreferred embodiment also relates generally to a method of using theapparatus for robotic brain surgery of a patient, said methodcomprising: providing a robot for controlling said apparatus, said robotbeing capable of controlling said video camera and said actuator motorand of interacting with said processor, said robot comprising: anavigation computer, said navigation computer being capable ofnavigating said robot, said navigation computer comprising: said memory,and said computer-readable medium, one ore more positioning roboticmotors, one or more aligning robotic motors, and one or more focusingrobotic motors; draping said apparatus with a drape, said drapeconforming to said outer housing of said apparatus and being capable ofprotecting said patient from contamination; positioning said apparatusover said patient using said one or more positioning robotic motors;aligning said apparatus with said patient using said one or morealigning robotic motors; focusing said video camera of said apparatus onsaid patient using said one or more focusing robotic motors; recordingvideo of said patient using robotically-controlled said video camera;sweeping said one or more edges of luminosity across said patient usingrobotically-controlled said actuator motor; capturing images of said oneor more edges of luminosity on said patient using robotically-controlledsaid video camera; collecting and analyzing said images using saidprocessor; forming a three-dimensional data representation from saidimages using said processor; generating said three-dimensional model ofsaid patient using said three-dimensional data representation using saidprocessor; storing said three-dimensional model to said navigationcomputer of said robot for use during said robotic brain surgery.Additionally, this preferred embodiment also relates generally to amethod of using the apparatus for brain surgery of a patient, saidmethod comprising: scanning the brain of said patient prior to saidbrain surgery using other scanning techniques to generate a prior modelof said brain, said other scanning techniques comprising: an MRI scan, aCT scan, a PET scan, or an ultrasound scan; storing said prior model insaid memory using said processor; draping said apparatus with a drape,said drape conforming to said outer housing of said apparatus and beingcapable of protecting said patient from contamination; aligning saidapparatus with said patient; focusing said video camera of saidapparatus on said patient; starting to record video of said patientusing said video camera; sweeping said one or more edges of luminosityacross said patient using said actuator motor; capturing images of saidone or more edges of luminosity on said patient using said video camera;stopping to record video of said patient; collecting and analyzing saidimages using said processor; forming a three-dimensional datarepresentation from said images using said processor; generating saidthree-dimensional model of said patient using said three-dimensionaldata representation using said processor; comparing saidthree-dimensional model to said prior model using said processor; anddisplaying said three-dimensional model overlaid with said prior modelon said display using said processor. This preferred embodiment alsorelates generally to a method of using the apparatus for brain surgeryof a patient with a rhythmically pulsing brain, said method comprising:draping said apparatus with a drape, said drape conforming to said outerhousing of said apparatus and being capable of protecting said patientfrom contamination; aligning said apparatus with said rhythmicallypulsing brain of said patient; focusing said video camera of saidapparatus on said rhythmically pulsing brain of said patient; startingto record video of said rhythmically pulsing brain of said patient usingsaid video camera; measuring the blood pressure wave profile of saidpatient, said blood pressure wave profile comprising: the rhythmicpulsing of the blood pressure of said patient; sweeping said one or moreedges of luminosity across said rhythmically pulsing brain of saidpatient using said actuator motor; capturing images of said one or moreedges of luminosity on said rhythmically pulsing brain of said patientusing said video camera; stopping to record video of said rhythmicallypulsing brain of said patient; collecting and analyzing said imagesusing said processor; eliminating the rhythmic motion of saidrhythmically pulsing brain of said patient using said blood pressurewave profile and said processor; accounting for the scanning motion ofsaid shadow caster using said processor; forming a three-dimensionaldata representation from said images and eliminated said rhythmic motionof said rhythmically pulsing brain of said patient using said processor;generating said three-dimensional model of said patient using saidthree-dimensional data representation using said processor; anddisplaying said three-dimensional model on said display using saidprocessor.

In another preferred embodiment, the present invention relates generallyto endoscope apparatuses. This embodiment relates generally to anapparatus for generating one or more edges of luminosity to formthree-dimensional models of an object, said apparatus comprising: anendoscope body, said endoscope body comprising: a proximal end, a distalend, an endoscope sleeve, said endoscope sleeve spanning between saidproximal end and said distal end, a tapered fiber optic bundle, saidtapered fiber optic bundle being disposed within said endoscope sleeveand tapered towards said distal end, and an endoscope camera, saidendoscope camera being disposed within said endoscope sleeve and facingout said distal end; a shadow caster, said shadow caster being mountedon said distal end of said endoscope body over said tapered fiber opticbundle, said shadow caster comprising: a semi-circular piece; a lightlaunch, said light launch comprising: a horizontal platform, a verticalstand, said vertical stand distending from said horizontal platform, astepper motor linear actuator, said stepper motor linear actuatordistending from said horizontal platform, a translating platform, saidtranslating platform being connected to said stepper motor linearactuator, a light source, said light source depending from saidtranslating platform, an optic fiber bundle, said optic fiber bundledepending from said light source, a square-to-round taper, saidsquare-to-round taper depending from said optic fiber bundle, and aslit, said slit being mounted on said square-to-round taper; a memorystored in non-transitory computer-readable medium; a processor, saidprocessor comprising: said computer-readable medium; and a display;wherein said light launch is connected to said proximal end of saidendoscope body; wherein said light source illuminates said optic fiberbundle, said square-to-round taper, said slit, said tapered fiber opticbundle, and said shadow caster, to project high contrast shadows ofknown geometry, which form said one or more edges of luminosity on saidobject; wherein said stepper motor linear actuator moves saidtranslating platform with said light source in order to sweep said oneor more edges of luminosity across said object; wherein said endoscopecamera captures images of said one or more edges of luminosity on saidobject and records said images into said memory; wherein said processorforms a three-dimensional data representation from recorded said images;wherein said processor generates said three-dimensional model of saidobject using said three-dimensional data representation; and whereinsaid three-dimensional model is displayed on said display using saidprocessor. This preferred embodiment also relates generally to anapparatus for generating one or more edges of luminosity to formthree-dimensional models of an object, said apparatus comprising: anendoscope body, said endoscope body comprising: a proximal end, a distalend, an endoscope sleeve, said endoscope sleeve spanning between saidproximal end and said distal end, a tapered fiber optic bundle, saidtapered fiber optic bundle being disposed within said endoscope sleeveand tapered towards said distal end, and an endoscope camera, saidendoscope camera being disposed within said endoscope sleeve and facingout said distal end; a shadow caster, said shadow caster being mountedon said distal end of said endoscope body over said tapered fiber opticbundle, said shadow caster comprising: a semi-circular piece; a lightlaunch, said light launch comprising: a horizontal platform, a verticalstand, said vertical stand distending from said horizontal platform, astepper motor linear actuator, said stepper motor linear actuatordistending from said horizontal platform, a supporting platform, saidsupporting platform depending from said vertical stand, a light source,said light source depending from said supporting platform, an opticfiber bundle, said optic fiber bundle depending from said light source,a square-to-round taper, said square-to-round taper depending from saidoptic fiber bundle, and a slit, said slit being mounted to said steppermotor linear actuator; a memory stored in non-transitorycomputer-readable medium; a processor, said processor comprising: saidcomputer-readable medium; and a display; wherein said light launch isconnected to said proximal end of said endoscope body; wherein saidlight source illuminates said optic fiber bundle, said square-to-roundtaper, said slit, said tapered fiber optic bundle, and said shadowcaster, to project high contrast shadows of known geometry, which formsaid one or more edges of luminosity on said object; wherein saidstepper motor linear actuator moves slit in order to sweep said one ormore edges of luminosity across said object; wherein said endoscopecamera captures images of said one or more edges of luminosity on saidobject and records said images into said memory; wherein said processorforms a three-dimensional data representation from recorded said images;wherein said processor generates said three-dimensional model of saidobject using said three-dimensional data representation; and whereinsaid three-dimensional model is displayed on said display using saidprocessor. Other versions of this embodiment use a tapered fiber opticbundle, which is rectangular or rounded-rectangular. Additionally, someversions of this embodiment use one or more shadow casters, whichfurther comprise configurable shapes, configurable opacity, or colorfilters.

In another preferred embodiment, the present invention relates generallyto systems, which use drones to model an area. This embodiment relatesgenerally to a system for generating one or more edges of luminosity toform three-dimensional models of an area, said system comprising: aplurality of shadow drones, each said shadow drones comprising: a drone,said drone comprising: a remote controlled flying vehicle, and a shadowcaster, said shadow caster comprising: a panel, said panel dependingfrom said drone; a plurality of camera drones, each said camera dronescomprising: said drone, and an image capture device, said image capturedevice depending from said drone; a memory stored in non-transitorycomputer-readable medium; a processor, said processor being able tocontrol said shadow drones and said camera drones, said processorcomprising: said computer-readable medium; and a display; wherein saidplurality of shadow drones are aligned in a flight formation so thatsaid shadow casters form a substantially continuous collective shadowcaster, said collective shadow caster comprising aligned said shadowcasters; wherein the sun illuminates said collective shadow caster toproject high contrast shadows of known geometry, which form said one ormore edges of luminosity on said area; wherein aligned said plurality ofshadow drones in said flight formation move in formation across saidarea in order to sweep said one or more edges of luminosity across saidarea; wherein said image capture devices of said camera drones captureimages of said one or more edges of luminosity on said area and recordsaid images into said memory; wherein said processor forms athree-dimensional data representation from recorded said images; whereinsaid processor generates said three-dimensional model of said area usingsaid three-dimensional data representation; and wherein saidthree-dimensional model is displayed on said display using saidprocessor. This preferred embodiment also relates generally to a systemfor generating one or more edges of luminosity to form three-dimensionalmodels of an area, said system comprising: a plurality of shadow drones,each said shadow drones comprising: a drone, said drone comprising: aremote controlled flying vehicle, and a shadow caster, said shadowcaster comprising: a panel, said panel depending from said drone; aplurality of light drones, each said light drones comprising: saiddrone, and a light source, said light source depending from said drone;a plurality of camera drones, each said camera drones comprising: saiddrone, and an image capture device, said image capture device dependingfrom said drone; a memory stored in non-transitory computer-readablemedium; a processor, said processor being able to control said shadowdrones, said light drones, and said camera drones, said processorcomprising: said computer-readable medium; and a display; wherein saidplurality of shadow drones are aligned in a flight formation so thatsaid shadow casters form a substantially continuous collective shadowcaster, said collective shadow caster comprising aligned said shadowcasters; wherein said light drones illuminate said collective shadowcaster to project high contrast shadows of known geometry, which formsaid one or more edges of luminosity on said area; wherein aligned saidplurality of shadow drones in said flight formation move in formationacross said area in order to sweep said one or more edges of luminosityacross said area; wherein said image capture devices of said cameradrones capture images of said one or more edges of luminosity on saidarea and record said images into said memory; wherein said processorforms a three-dimensional data representation from recorded said images;wherein said processor generates said three-dimensional model of saidarea using said three-dimensional data representation; and wherein saidthree-dimensional model is displayed on said display using saidprocessor. Other versions of this embodiment use one or more shadowcasters, which further comprise configurable shapes, configurableopacity, or color filters. Additionally, some versions of thisembodiment use a display, which is an augmented reality headset that canoverlay the three-dimensional model over the view of a user of theheadset.

In another preferred embodiment, the present invention relates generallyto systems, which model an area, such as a large stadium, or the like.This embodiment relates generally to a system for generating one or moreedges of luminosity to form three-dimensional models of an area, saidsystem comprising: a shadow caster platform, said shadow castingplatform being horizontal and capable of rotation; a light source, saidlight source depending from the center of said shadow caster platform;at least one shadow caster, each said shadow caster depending from saidshadow caster platform around said light source and comprising: avertical panel, and an angled panel, said angled panel being angledtowards said light source; a plurality of image capture devices, eachsaid image capture device being mounted on a tripod; a memory stored innon-transitory computer-readable medium; a processor, said processorcomprising: said computer-readable medium; and a display; wherein saidplurality of image capture devices are arranged around said shadowcaster platform; wherein said light source illuminates said shadowcasters to project high contrast shadows of known geometry, which formsaid one or more edges of luminosity on said area; wherein said shadowcaster platform is rotated, thereby rotating said shadow casters aroundsaid light source in order to sweep said one or more edges of luminosityacross said area; wherein said plurality of image capture devicescapture images of said one or more edges of luminosity on said area andrecord said images into said memory; wherein said processor forms athree-dimensional data representation from recorded said images; whereinsaid processor generates said three-dimensional model of said area usingsaid three-dimensional data representation; and wherein saidthree-dimensional model is displayed on said display using saidprocessor. This preferred embodiment also relates generally to a systemfor generating one or more edges of luminosity to form three-dimensionalmodels of an area, said system comprising: a shadow caster platform,said shadow casting platform being horizontal; a light source, saidlight source being directional, being capable of rotation, and dependingfrom the center of said shadow caster platform; at least one shadowcaster, each said shadow caster depending from said shadow casterplatform around said light source and comprising: a vertical panel, andan angled panel, said angled panel being angled towards said lightsource; a plurality of image capture devices, each said image capturedevice being mounted on a tripod; a memory stored in non-transitorycomputer-readable medium; a processor, said processor comprising: saidcomputer-readable medium; and a display; wherein said plurality of imagecapture devices are arranged around said shadow caster platform; whereinsaid light source illuminates said shadow casters to project highcontrast shadows of known geometry, which form said one or more edges ofluminosity on said area; wherein said light source is moved in order tosweep said one or more edges of luminosity across said area; whereinsaid plurality of image capture devices capture images of said one ormore edges of luminosity on said area and record said images into saidmemory; wherein said processor forms a three-dimensional datarepresentation from recorded said images; wherein said processorgenerates said three-dimensional model of said area using saidthree-dimensional data representation; and wherein saidthree-dimensional model is displayed on said display using saidprocessor. Other versions of this embodiment use one or more shadowcasters, which further comprise configurable shapes, configurableopacity, or color filters. Additionally, some versions of thisembodiment use a display, which is an augmented reality headset that canoverlay the three-dimensional model over the view of a user of theheadset.

In another preferred embodiment, the present invention relates broadlyto methods of generating a shaped shadow caster, which is used in manyof the above-preferred embodiments. This present embodiment relatesgenerally to a method of creating a custom shadow caster for generatingone or more edges of luminosity to form three-dimensional models of anobject, said method comprising: providing a three-dimensional printer;determining the profile of said object using photography, video, orshadow projection; three-dimensionally printing said custom shadowcaster in the shape of said profile using said three-dimensionalprinter; and placing said custom shadow caster substantially close tosaid object when generating said one or more edges of luminosity.

In another preferred embodiment, the present invention relates to anapparatus, a slitted linear light source, which may be used in many ofthe above-preferred embodiments. This present embodiment relatesgenerally to an apparatus for generating light for a shadow caster, saidapparatus comprising: a slitted tube, said slitted tube comprising: aninterior, said interior being painted white, an exterior, said exteriorbeing opaque, and a slit, said slit running the length of said slittedtube and comprising: a width; two light sources, said light sourcesdepending on opposite ends of said slitted tube; two heat sinks, saidheat sinks depending from said light sources; two clamps, each saidclamp wrapping around said slitted tube and comprising: a screw; whereinsaid clamps are capable of adjusting said width of said slit. Otherversions of this embodiment use light sources, which are an assembly ofLEDs or provided by fiber optic bundles. Furthermore, additionalversions of this embodiment further comprise one or more lens across theslit, which have a negative focal length.

In another preferred embodiment, the present invention relates to anapparatus for generating a sharp shadow, said apparatus comprising: twoside shadow casters, each said side shadow caster being triangular andcomprising: a base, two sides, said sides extending from said base andmeeting at a point, and an apex, said apex comprising: said point atwhich two said sides meet, and a pivot point; a main shadow caster, saidmain shadow caster disposed between said bases of said side shadowcasters with said side shadow casters depending from said main shadowcaster; a rotational axis, said rotational axis intersecting said pivotpoints of said side shadow casters; and a light source, said lightsource being linear, spanning between said apexes of said side shadowcasters, and disposed along said rotational axis; wherein said sideshadow casters and said main shadow caster may rotate around saidrotational axis; and wherein said light source projects light acrosssaid side shadow casters and said main shadow caster in order togenerate said sharp shadow. Other versions of this embodiment use sideshadow casters and a main shadow caster, which further compriseconfigurable shapes. Still other versions of this embodiment use sideshadow casters and a main shadow caster, which further compriseconfigurable opacity. Additional versions of this embodiment use sideshadow casters and a main shadow caster, which further comprise colorfilters. Furthermore, other versions of this embodiment use side shadowcasters and a main shadow caster, which further comprise multiplesections. When used with a shadow caster scanner, a camera must beseparated from the light source.

Although the foregoing examples have been described in some detail forpurposes of clarity of understanding, the above-described inventivetechniques are not limited to the details provided. There are manyalternative ways of implementing the above-described inventiontechniques. The disclosed examples are illustrative and not restrictive.These embodiments are not intended to limit the scope of the presentinvention.

BRIEF DESCRIPTION OF THE DRAWING

Illustrative and preferred embodiments of the present invention areshown in the accompanying drawings in which:

FIG. 1 is a known scanner system;

FIG. 2 is a diagram depicting an example of a shadow caster, accordingto some embodiments;

FIG. 3 is a diagram depicting a scanning system, according to someexamples;

FIG. 4 is a diagram depicting another example of a shadow caster,according to some embodiments;

FIG. 5 is a diagram depicting another example of a shadow caster,according to some embodiments;

FIG. 6 is a diagram depicting an example of shadow casters generatingedges of luminosity to scan multiple objects, according to someexamples;

FIG. 7A is a diagram depicting a side view of an object being scanned,according to some examples;

FIG. 7B is a diagram depicting a perspective view of an object beingscanned, according to some examples;

FIG. 7C is an example flow chart for determining spatial locations ofpoints on an object surface, according to some examples;

FIG. 8 is a diagram depicting an example of a shadow caster, accordingto various embodiments;

FIG. 9 is a diagram depicting an example of a shadow caster, accordingto various embodiments;

FIG. 10 is a diagram depicting an example of a shadow caster, accordingto various embodiments;

FIG. 10A is a diagram depicting an example of a shadow caster, accordingto various embodiments;

FIG. 11A is a diagram depicting examples of adaptable structuralcharacteristics of a shadow caster for scanning three-dimensionalobjects, according to some examples;

FIG. 11B is a diagram depicting examples of adaptable structuralcharacteristics of a shadow caster for scanning three-dimensionalobjects, according to some examples;

FIG. 11C is a diagram depicting examples of adaptable structuralcharacteristics of a shadow caster for scanning three-dimensionalobjects, according to some examples;

FIG. 12 is a diagram depicting an example of configurable shadowcasters, according to some examples;

FIG. 13 is a diagram depicting an example of a scanning system,according to some examples;

FIG. 14 is a diagram to depicting yet another example of a scanningsystem, according to some examples;

FIG. 15 depicts an example of a scanning system configured to performmedical applications, according to some examples;

FIG. 16A is a diagram depicting a specialized surgical microscopeincluding a system of shadow casters, according to some examples;

FIG. 16B is a diagram depicting yet another specialized surgicalmicroscope including at least one shadow casters, according to someexamples;

FIG. 17 is a diagram depicting a magnified image based onthree-dimensionally scanned features, according to some examples;

FIG. 18 is a functional block diagram depicting in vivo threedimensional scanning and image integration, according to some examples;

FIG. 19 is a diagram depicting yet another example of one or more shadowcasters configured to generate one or more edges of luminosity,according to some examples;

FIG. 20 is a diagram depicting an example of light projection patternsoriginating at a wearable shadow caster, according to some examples;

FIG. 21 is a diagram depicting an image capture device implemented witha wearable shadow caster, according to some examples;

FIG. 22 is a diagram depicting multiple wearable shadow casterscollaborating in a common environment, according to some examples;

FIG. 23 illustrates examples of various computing platforms configuredto provide various functionalities to components to preformthree-dimensional scanning, according to various embodiments;

FIG. 24 is a front perspective view of an apparatus of the presentinvention, according to some examples;

FIG. 25 is a rear perspective view of an apparatus of FIG. 24, accordingto some examples;

FIG. 26 is an exploded view of an apparatus of FIG. 24, according tosome examples;

FIG. 27 is a front perspective view of a shadow caster of the presentinvention, according to various embodiments;

FIG. 28 is a front perspective view of another shadow caster of thepresent invention, according to various embodiments;

FIG. 29 is a front perspective view of another shadow caster of thepresent invention, according to various embodiments;

FIG. 30 depicts a flow chart describing the operation of an apparatus ofFIG. 24, according to some examples;

FIG. 31 is a front perspective view of an apparatus of the presentinvention being used during brain surgery, according to variousembodiments;

FIG. 32 illustrates a flow chart describing the operation of anapparatus of the present invention being used during brain surgery,according to some examples;

FIG. 33 shows a flow chart describing the operation of an apparatus ofthe present invention being used during brain surgery, according to someexamples;

FIG. 34 depicts a flow chart describing the algorithm used by thepresent invention, according to some examples;

FIG. 35 displays a flow chart describing an apparatus of the presentinvention being used for patient registration, according to variousembodiments;

FIG. 36 demonstrates a flow chart describing the operation of anapparatus of the present invention being used during robotic brainsurgery, according to some examples;

FIG. 37 is a front perspective view of an apparatus of the presentinvention, according to various embodiments;

FIG. 38 is an exploded view of an apparatus of FIG. 37, according tosome examples;

FIG. 39 is a front perspective view of an apparatus of the presentinvention, according to various embodiments;

FIG. 40 shows front perspective and exploded views of apparatuses of thepresent invention mounted in the distal ends of endoscopes, according tovarious embodiments;

FIG. 41 depicts a block diagram, which describes an apparatus of FIG.40, according to some examples;

FIG. 42 illustrates a flow chart describing the operation of anendoscope version of an apparatus of the present invention, according tovarious embodiments;

FIG. 43 depicts a flow chart describing the algorithm used by anendoscope version of the present invention, according to some examples;

FIG. 44 shows a flow chart, which describes a shadow caster sweep of anendoscope version of an apparatus of the present invention, according tosome examples;

FIG. 45 is a front perspective view of an apparatus of the presentinvention scanning a person, according to various embodiments;

FIG. 46 illustrates a flow chart describing the operation of anapparatus of FIG. 45, according to some examples;

FIG. 47 is a front perspective view of another apparatus of the presentinvention scanning a walking person, according to various embodiments;

FIG. 48 is a flow chart describing the operation of an apparatus of FIG.47, according to some examples;

FIG. 49 shows a front perspective view of another apparatus of thepresent invention incorporated into an automobile, according to variousembodiments;

FIG. 50 is a close-up view of the apparatus of FIG. 49, according tosome examples;

FIG. 51 displays a flow chart describing the operation of an apparatusof FIG. 49, according to some examples;

FIG. 52 illustrates a flow chart describing the operation of anapparatus of the present invention incorporated into a robot, accordingto various embodiments;

FIG. 53 is a flow chart describing the operation of an apparatus of thepresent invention incorporated into a submersible, according to variousembodiments;

FIG. 54 demonstrates a front perspective view of a system of the presentinvention, which uses drones, according to various embodiments;

FIG. 55 is a flow chart describing the operation of a system of FIG. 54,according to some examples;

FIG. 56 is a front perspective view of another system of the presentinvention, which uses drones, according to various embodiments;

FIG. 57 shows is a flow chart, which describes the operation of a systemof FIG. 56, according to some examples;

FIG. 58 depicts a flow chart describing the algorithm used by thesystems of the present invention, which use drones, according to variousembodiments;

FIG. 59 is a flow chart, which describes a shadow caster sweep ofsystems of the present invention, which use drones, according to variousembodiments;

FIG. 60 is a perspective view of another system of the present inventionbeing used to scan a stadium, according to various embodiments;

FIG. 61 is a perspective view of a system of FIG. 60 in the process ofscanning a stadium, according to some examples;

FIG. 62 shows a flow chart describing the algorithm used by embodimentsof the present invention, which use a single shadow caster, according tosome examples;

FIG. 63 is a flow chart, which describes a shadow caster sweep used byembodiments of the present invention, which use a single shadow caster,according to some examples;

FIG. 64 demonstrates a flow chart describing the operation of anapparatus or system of the present invention, which is used for desktopscanning, according to various embodiments;

FIG. 65 illustrates a flow chart describing the operation of anapparatus or system of the present invention, which may be used with atripod for scanning a room, according to various embodiments;

FIG. 66 depicts a flow chart describing the operation of an apparatus orsystem of the present invention, which may be used with overhead lightsfor scanning a room, according to various embodiments;

FIG. 67 shows a flow chart describing the algorithm used by embodimentsof the present invention, which use a multiple cameras, according tosome examples;

FIG. 68 is a flow chart describing the algorithm used by embodiments ofthe present invention, which use multiple cameras and a single staticshadow caster, according to some examples;

FIG. 69 displays a flow chart describing a method of creating a customshadow caster, according to some examples;

FIG. 70 is a perspective view of an apparatus of the present invention,which is a slitted light source, according to some examples; and

FIG. 71 illustrates an exploded view of the apparatus of FIG. 70,according to some examples.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

For the purpose of illustration, the present invention is shown in thepreferred embodiments of apparatuses, methods, and systems, forgenerating one or more edges of luminosity to form three-dimensionalmodels of objects or environments. In broad embodiment, the presentinvention comprises one or more light sources and one or more shadowcasters, which generate one or more edges of luminosity across objectsor areas being modeled, one or more means of detecting the one or moreedges of luminosity, a means of moving the one or more edges ofluminosity relative to the objects or areas being modeled, and a meansof generating three-dimensional models of the objects or areas beingmodeled, as well as related methods and systems. Some embodiments movethe one or more shadow casters, some embodiments move the one or morelight sources, and some embodiments move the object through the one ormore edges of luminosity. Various embodiments or examples may beimplemented in numerous ways, including as a system, a process, amethod, an apparatus, a user interface, or a series of programinstructions on a computer readable medium such as a computer readablestorage medium or a computer network where the program instructions aresent over optical, electronic, or wireless communication links. Ingeneral, operations of disclosed processes may be performed in anarbitrary order, unless otherwise provided in the claims. Theseembodiments are not intended to limit the scope of the presentinvention.

A detailed description of one or more examples is provided below alongwith accompanying figures. The detailed description is provided inconnection with such examples, but is not limited to any particularexample. The scope is limited only by the claims, and numerousalternatives, modifications, and equivalents thereof. Numerous specificdetails are set forth in the following description in order to provide athorough understanding. These details are provided for the purpose ofexample and the described techniques may be practiced according to theclaims without some or all of these specific details. For clarity,technical material that is known in the technical fields related to theexamples has not been described in detail to avoid unnecessarilyobscuring the description.

Referring now to the preferred embodiments of the present invention,FIG. 2 is a diagram depicting an example of a shadow caster, accordingto some embodiments. Diagram 200 depicts an example of a shadow caster215 configured to form an edge of luminosity 250 a and 250 b at or upona plane of projection or object (not shown) or environment (not shown)to facilitate three-dimensional representations of the shape and imageof an object or environment. In some examples, shadow caster 215 may beconfigured to receive photonic emission (e.g., as light) that mayimpinge on at least edge portions 211 a and 211 b of edge 213 a ofshadow caster 215, which, in turn, may cause projections 204 a and 204 bof light originating from edge portions 211 a and 211 b to form an edgeof luminosity 250 a on plane of projection 210. Similarly, light mayalso impinge on edge portions 211 aa and 211 bb of edge 213 b, which, inturn, may cause projections 204 aa and 204 bb of light originating fromedge portions 211 aa and 211 bb to form another edge of luminosity 250b. According to various examples, either edge of luminosity 250 a oredge of luminosity 250 b, or both, may be used to facilitatethree-dimensional scanning and digital replication. In the exampleshown, shadow caster 215 may be opaque to form an umbra 220 based on theedges of luminosity 250 a and 250 b. Umbra 220 may be associated withrelatively high degrees of darkness (e.g., low to negligible levels ofillumination) relative to illuminated portions 299 of plane 210,including illuminated plane portion 228.

In view of the foregoing, shadow caster 215 may be implemented inaccordance with various functions and/or structures described herein, toform edges of luminosity to facilitate three-dimensional scanning anddigital replication of spatial characteristics associated with surfacesof objects and environments. According to some examples, a shadow caster215 includes a triangular cross-sectional area that provides atriangular profile, in projection, onto the plane Y-Z, which casts asharp shadow with each edge maintaining parallelism to line 212throughout a scan, where that sharp shadow is projected onto any planeparallel to line 212. That is, parallelism of one or both edges to line212 may be maintained as projected onto plane 210 during a scan (e.g.when one or both edges of luminosity 250 a and 250 b move over anobject, environment, and/or plane of projection 210). The geometries anddimensions of shadow caster 215, light source 203, and an edge ofluminosity 250 a (or edge of luminosity 250 b) facilitates maintenanceof parallelism as, for example, one or more of the edge of luminositymove during a scanning process. As an angle of shadow caster 215 may beknown a-priori, the parallelism may be maintained as one or more edgesof luminosity used in scanning to facilitate accuracy in determinationof a shadow plane, which, in turn, may improve accuracy of thecoordinates of a 3D object. In at least one example, shadow caster 215may be implemented to form shadows planes that are parallel to line 212traversing through light source 203 at point L and apex 262 of shadowcaster 215, for either edge 213 a or 213 b, or both. An example of ashadow plane is formed with points L, A, and B, and an example of asecond shadow plane is formed with points L, C, and D. Thus, edge ofluminosity 250 a between points A and B may be maintained as beingparallel to (or substantially parallel to) edge of luminosity 250 bbetween points C and D, according to some examples. Note that line 212traversing through light source 203 need not traverse through shadowplanes in accordance with at least one example. In other examples, line212 is parallel to the shadow plane, which is extendable to line 212.However, a shadow may not necessarily be cast along this line by ashadow caster.

Edge of luminosity 250 a, for example, may be associated with arelatively sharp rate of change from an absence (or relatively lowamounts) of reflected light or photonic emissions in umbra 220 (e.g.,relatively low levels of brightness or luminosity) to relatively highlevels of reflected light or photonic emissions at an illuminated planeportion 228 within a unit 226 of distance. According to some examples,edge of luminosity 250 a may be described as being associated with agradient indicating unit distance 226. Characteristics of pixels mayinclude, but are not limited to, pixel intensities, such as gray pixelintensities, values of brightness, luminosity, etc. In one example, agradient may specify a distance at which one or more pixelcharacteristics of associated umbra 220 change from pixel value 000(e.g., no illumination, or “black”) to a pixel value 255 (e.g., fullyilluminated, or “white”). In at least some cases, a cross-sectional areaassociated with shadow caster 215 may produce sharper edges ofluminosity and higher contrast than, for example, a cylindrical rod orpencil where such rod or pencil is disposed such that no shadow-castingedge lies entirely in a single plane containing the light source,according to at least some examples. In other words, any edge that liesentirely in a single-plane, where that plane also contains the lightsource, casts a sharp, high contrast shadow, which is a particularadvantage of the embodiments of the present invention.

In some examples, an edge of luminosity may sufficiently provide forrelatively sharp contrasts between illuminated surfaces and a generatedshadow. As such, examples of edge of luminosity may facilitate captureof spatial characteristics of 3D surfaces as well as color associatedwith the surfaces where that color may be obtained from the illuminatedsurface closest to the shadow edge. Therefore, a color determination maybe obtained relatively close to an edge of luminosity during a scan foraccurately representing a color during a scan than otherwise might bethe case. For example, determining a color need not rely on aco-registration of 3D data with separate color information, which may beobtained using a separate camera or at a different time than when datarepresenting 3D information is scanned or otherwise captured.

Referring still to FIG. 2, diagram 200 depicts a light source 203 beingdisposed in a region associated with a negative X-plane (e.g., “−X”)portion of plane of projection 210, with shadow caster 215 (or aprojection thereof) being disposed in a plane (e.g., Y-Z plane). Aportion 260 of shadow caster 215 may be disposed at or adjacent to aline 212. Line 212 may also include light source 203 positioned thereon.In at least one example, portion 260 may be coextensive with line 212.In one example, line 212 may coincide with one or more points of shadowcaster 215, which may include a point at an apex 262 of atriangular-shaped shadow caster 215 shown in diagram 200. Line 212 maybe parallel to the X-Y plane and orthogonal to the Y-Z plane, at leastin some cases. Another portion of shadow caster 215 may be disposeddistally, such as at end portion 230. For example, end portion 230 maybe disposed at or adjacent plane of projection 210.

In some examples, the depiction of shadow caster 215 may represent across-sectional area, or a projection thereof, in association with aplane (e.g., Y-Z plane) that may form edges of luminosity 250 a and 250b. Alternatively, shadow caster 215 (or a cross-sectional area thereof)may be positioned or oriented at an angle relative to a plane (e.g., atan angle 280 relative to a plane coextensive to an X-Y plane). Hence,structures and functions of shadow caster 215 need not be limited tothat depicted and described in relation to FIG. 2. For example, arectangular shadow caster may be implemented with one or more features,functions and/or structures described herein, such as one or moresources of light 203 (e.g., points of light), whereby the rectangularshadow caster may be rotated about a point on its edge (e.g. about arotation axis parallel to line 212) to form at least one relativelysharp shadow edge (or edge of luminosity). Shadow caster 215 may beopaque, with the opacity being configurable or programmable, accordingto some examples. Note that, in some examples, a penumbra may beimplemented as umbra 220, whereby a partial amount of illumination fromlight source 203 (or any other light source) may modify or limit amaximum of darkness (e.g., a partial amount of illumination may cause anincrease in values of pixel intensities above 000, which may representtotal darkness). Regardless, edge of luminosity 250 a and 250 b may bedetected as a transition from a first range of one or more pixel valuesassociated the penumbra 220 to a second range of one or more pixelvalues associated with an illuminated portion 228 of plane of projection210, according to some examples. According to some examples, atransition may be detected or determined in a single frame in whichadjacent pixels may be compared. Or, a transition may be determined as achange in brightness of a pixel over time (e.g., over multiple frames).In at least one instance, an edge of luminosity (or shadow) may beresolved at dimensions finer than a pixel (e.g., during one or moreframes in which a pixel value may change relatively slowly as a shadowedge moves across a pixel during a scan). Thus, an edge of luminositymay be determined at subpixel accuracy.

FIG. 3 is a diagram depicting a scanning system, according to someexamples. Diagram 300 depicts another example of a shadow caster 315 asa constituent component of a scanning system also including an imagecapture device 301 and one source of light 303 or multiple sources oflight 303 (not shown) disposed on line 312. Line 312 may extend throughan apex 362 of shadow caster 315 and one or more sources of light 303.In some examples, shadow caster 315 may be configured to receivephotonic emission (e.g., as light) that may impinge on at least edgeportion 311 a and 311 b of edge 313 a of shadow caster 315, which, inturn, may cause projections 304 a and 304 b, respectively, of lightoriginating from edge portions 311 a and 311 b to form an edge ofluminosity 350 a on plane of projection 310. Similarly, light may alsoimpinge on edge portions 311 aa and 311 bb of edge 313 b, which, inturn, may cause projections 304 aa and 304 bb of light originating fromedge portions 311 aa and 311 bb to form another edge of luminosity 350b. The one or more edges of luminosity 350 a and 350 b may be formed ator upon a plane of projection 310 to facilitate generation ofthree-dimensional representations of a shape of an object 370.

According to various functions and structures, an edge of luminosity 350a and 350 b may transit or move over a surface of object 370 todetermine three-dimensional spatial characteristics of the surface. Anynumber or type of motive force (not shown) may be generated by a device(not shown), such as an electromechanical motor, or by gravity, to moveone of shadow caster 315 and object 370 relative to the other toeffectuate movement of edge of luminosity 350 relative to object 370.For example, a motive force may cause angular displacement of shadowcaster 315 in a plane (e.g., Y-Z plane) (e.g., rotation 384 that has atleast some rotational component about an axis parallel to line 312). Insome examples, above-described parallelism may be maintained so asprovide parallel edges of luminosity that move (e.g., in synchronicity)throughout a scan by rotating shadow caster 315 about apex 362 of FIG.3. Similarly, shadow caster 215 of FIG. 2 may rotate about apex 262 tomaintain parallelism. Note that width of bottom portion 331 (e.g., inthe Y-axis direction) may be depicted as equivalent to a width of one ormore squares of a checkerboard pattern depicted in diagram 300. Buthere, or in any other example described herein, the width of bottomportion 331 may be smaller or larger than a width of any number ofcheckerboard squares. Thus, dimensions of shadow caster 315 shown indiagram 300 are exemplary. Any number of configurations and widths maybe used to form any distance 333 between parallel edges of luminosity350 a and 350 b, among various examples.

To implement a scan, an angular displacement of shadow caster 315 in theY-Z plane may cause edge of luminosity 350 and umbra 320 to move in adirection 380 parallel to, for example, a Y-axis and over plane ofprojection 310. As another example, a motive force may cause shadowcaster 315 to translate (e.g., non-rotationally) in an orientation shownalong the Y-axis to cause edge of luminosity 350 a and 350 b and umbra320 to move in a direction 380. In yet another example, a motive forcemay cause object 370 to rotate 382 or translate 383 (e.g., lineardisplacement parallel to Y-axis) relative to shadow caster 315 to causeedge of luminosity 350 a and 350 b to contact different portions ofobject 370 at different points in time. In another example, a motiveforce may cause object 370 to move relative to shadow caster 315 tocause motion of an edge of luminosity.

In some examples, a motive force may cause one of light source 303,shadow caster 315, and object 370 to move relative to the others toeffectuate movement of edge of luminosity 350 a and 350 b. Note that themotive force on light source 303 or shadow caster 315 may be any type ofmotive force, examples of which include, but are not limited to,mechanical, electromechanical, electrical, magnetic, electromagnetic,electronic (e.g., currents or voltages to activate elements of a LCD toeffectuate motion of a simulated shadow caster 315), or any other motiveforce. Further, a device that generates a motive force need not belimited to an electromechanical motor, but may be gravity or any knowndevice to cause movement of edge of luminosity 350 relative to a surfaceof object 370.

Image capture device 301 may be configured to capture images of a sceneor environment that includes object 370 as edge of luminosity 350 a and350 b travels or moves over plane of projection 310. Examples of imagecapture device 301 may include any type of camera, such as a digitalvideo camera, a charge-coupled device (“CCD”)-based image sensor, etc.,as well as analog cameras. In the example shown, image capture device301 may capture one or more frames of images (e.g., video at aparticular frame rate) in which a one or more pixels 373 may beassociated edge of luminosity 350 a and 350 b as shadow 320 (e.g.,umbra) passes over object 370. One or more pixels 373 may be pixels on acamera corresponding to a point on object 370, which is depicted as oneor more pixels 373. In this example, image capture device 301 cancapture for a given edge of luminosity a change in reflected luminosityfrom either darkness to brightness, or brightness to darkness. Thesurface of object 370 may cause a portion of edge of luminosity 350 aand 350 b (e.g., the portion casted upon object 370) to deviate fromother straighter line portions of edge of luminosity 350 a and 350 b(e.g., on the X-Y plane) as detected from a point of view of camera 301.The deviation or deformation of edge of luminosity 350 a and 350 b maybe due to surface dimensions (of object 370) extending in positivevalues of the Z-axis. In at least one implementation, a single imagecapture device 301 (e.g., with a single lens) may be sufficient toimplement at least some of the scanning functions described herein.

FIG. 4 is a diagram depicting another example of a shadow caster,according to some embodiments. Diagram 400 depicts a system of shadowcasters 415 a and 415 b configured to form one or more edges ofluminosity 450 at or upon a plane 410 of projection to facilitatethree-dimensional object scanning. Diagram 400 also depicts anarrangement in which shadow casters 415 a and 415 b may be configured tocast edges of luminosity 451 and 453 to be coincident with each other toform common edges 450. Diagram 400 also depicts an image capture device401, a subset 403 a of one or more light sources, and a subset 403 b ofone or more light sources. Subset 403 a of one or more light sources areshown to be disposed in region 430 (e.g., on one side of shadow caster415 a), and subset 403 b of one or more light sources may be disposed inregion 434. Regions 430, 432, and 434 may define two-dimensional orthree-dimensional space. The light sources of subsets 403 a and 403 bmay be disposed axially on a line 412, and may be any type oflight-generating source that may emit any amount of lumens (e.g., 200lumens, or less, to 1300 lumens, or greater). Examples oflight-generating sources may include, but are not limited to, LED,incandescent, halogen, laser, etc., as well as any type of light pipe,lens (e.g., Fresnel lens), or light guide, such as illuminated opticalfibers (e.g., fiber optic, such as fiber optic cables). Each lightsource in subsets 403 a and 403 b may emit photon emissions (e.g.,light) at a same or different wavelength. For example, one or more lightsources in each of subsets 403 a and 403 b may generate light in thevisible light spectrum, as well as other any range of spectra (e.g.,ultraviolet spectra, infrared spectra, etc.), and may emit at arelatively narrow spectral range. One or more ranges of wavelengths maybe selectably implemented as a function of an application of shadowcasters 415 a and 415 b. In some cases, light sources of subsets 403 aand 403 b can be implemented to emit wavelengths of light thatconstitute “white light” or “broad bandwidth light,” which may reduce ornegate effects of diffraction at edges of a shadow caster (e.g., one ormore ranges of wavelengths, in combination, may reduce or negateartifacts associated with light diffracting due to an edge). Also, lightsources of subsets 403 a and 403 b can implement any number of ranges ofwavelengths regardless of whether those ranges are in the visiblespectra. Light sources of subsets 403 a and 403 b may be configured toemit light omnidirectionally, unidirectionally, or in any other patternof light.

In some cases, light sources in subsets 403 a and 403 b may berelatively narrow or approximate points of light, and/or may have areduced (or relatively short) radial dimension (“r”) 499 about line 412to, for example, effectuate a relatively sharp transition from “light”to “dark” along edges 450. As a number of sources (e.g., relativelynarrow sources) of light increases along a length (“L”) 407 of a portionof line 412, edge of luminosity 453 generated by shadow caster 415 b maysharpen (e.g., increase a rate of transition from umbra or shadowed area420 in region 432 to an illuminated portion of plane 410 ofprojection.). In some examples, sources of light, such as subset 403 b,may be disposed at greater distances 490 from the shadow caster 415 b tosharpen edges of luminosity 453. Similarly, any number of sources oflight may be disposed in subset 403 a along a corresponding portion ofline 412 to generate an enhanced edge of luminosity 451 in associationwith shadow caster 415 a. In at least one example, a filament (e.g., ina halogen light bulb) may be used to function as a number point sourcesof light disposed in subset 403 a such that they form a continuous set.A radius of a halogen bulb or filament, or any other light sourcedescribed herein, may be referred to a subset of light sourcesdescribing a “narrow source” of light of radius “r” 499, at least insome examples.

According to some examples, shadow caster 415 a may be configured toreceive photonic emissions (e.g., from subset 403 a of one or more lightsources) at edge portions to form at least two portions of edges ofluminosity 451. At least two portions of edges of luminosity 451 may beparallel or substantially parallel (e.g., non-intersecting on plane ofprojection 410) to each other as projected on a plane of projection 410.Shadow caster 415 b may be configured to receive photonic emissions(e.g., from subset 403 b of one or more light sources) at edge portionsto form at least two portions of edges of luminosity 453. At least twoportions of edges of luminosity 453 may be parallel or substantiallyparallel to each other as projected onto a plane of projection 410.

Edges of luminosity 453 may coincide coextensive (or substantiallycoextensive) with edges of luminosity 451 to form edges of luminosity450 based on shadow casters 415 a and 415 b. Thus, shadow caster 415 bmay form edges of luminosity 453 to bolster edges of luminosity 451(e.g., adjacent shadow caster 415 b), and similarly, shadow caster 415 amay form edges of luminosity 451 to bolster edges of luminosity 453(e.g., adjacent shadow caster 415 a). A bolstered edge of luminosity 453may provide for a relatively sharp shadow for a parallel shadow,according to at least one example.

Edges of luminosity 450 may translate, in synchronicity, over plane ofprojection 410 as shadow casters 415 a and 415 b have a common componentof rotation about line 412 as an axis, where line 412 may be maintainedto extend along subsets 403 a and 403 b of light sources, and to theapexes 462 a and 462 b of shadow casters 415 a and 415 b, respectively.In other examples, shadow casters 415 a and 415 b and subsets 403 a and403 b of light sources may translate together with some component alongthe Y axis, for example along lines 431 and 433, respectively. In otherexamples, shadow casters 415 a and 415 b and subsets of 403 a and 403 bof light sources may rotate together while maintaining a common line412. In such a case, edges of illumination 450 need not lie along asingle axis (e.g., such as an X-axis depicted in FIG. 4). In otherexamples, shadow casters 415 a and 415 b and 403 a and 403 b may bothtranslate and/or rotate in unison while maintaining a common line 412.

FIG. 5 is a diagram depicting another example of a shadow caster,according to some embodiments. Diagram 500 depicts a system of shadowcasters 515 a and 515 b configured to form one or more edges ofluminosity 550 at or upon a plane 510 of projection to facilitatethree-dimensional object scanning. As shown, shadow casters 515 a and515 b are depicted at different positions and/or orientations atdifferent points of time as shadow casters 515 a and 515 b rotate aboutaxis 512 (e.g., the dashed lines representing preceding positions ororientations). Correspondingly, shadow casters 515 a and 515 b may formmoving edges of luminosity 550 as an umbra moves to position 520 a at afirst point in time, from position 520 a to 520 at a second point intime, from position 520 to position 520 b at a third point in time, andto other positions at other points in time.

In some examples, sources of light 503 may be implemented as extendedsources of light (e.g., elongated sources of light) along axis 512. Insome embodiments, halogen lamps may be used with filaments that extendlongitudinally along axis 512. As a halogen lamp, light sources 503 mayhave a diameter (“d”) 566, as shown in end view 556, and may beimplemented as two times “r” 499 of FIG. 4 (e.g., 2*radius, ‘r’).According to the particular implementation, diameter 566 of light source503 may be two (2) mm, or less. In some cases, diameter 566 may begreater or otherwise dimensioned in accordance with a type of lightsource implemented. Further, light source 503, in addition to beingreflected, may be a real or virtual image of a light source as affectedby a positive or negative lens or lens system (not shown), includingimages of light sources that are magnified or de-magnified images oflight sources. Such an image can by extension be considered the lightsource 503.

In at least one embodiment, shadow casters 515 a and 515 b may beimplemented using liquid crystal displays (“LCDs”) 570 a and 570 b, orother switchable opaque glass, film, or material. For example, LCDs 570a and 570 b may be transparent (e.g., normally transparent), and may beactivated to form opaque cross-sectional shapes to simulate shadowcasters 515 a and 515 b and/or their movement. LCDs 570 a and 570 b mayhave portions selectively activated at different times to cause lightemitted from light sources 503 to generate edges of luminosity 550 thatmove over the surface of the plane of projection 510.

In various examples, multiple shadow casters may be substituted foreither shadow caster 515 a or 515 b, or both. For example, each of thetriangular shapes in diagram 500 may represent different physical shadowcasters that may move in synchronicity (e.g., in synchronize rotation inrelation to axis 512). Hence, each subset of shadow casters 515 a (e.g.,in a first plane) and 515 b (e.g., in a second plane) may generate six(6) edges of luminosity with each shadow caster generating two (2) edgesof luminosity. According to various other examples, any number of shadowcasters may be used.

FIG. 6 is a diagram depicting an example of shadow casters generatingedges of luminosity to scan multiple objects, according to someexamples. Diagram 600 depicts shadows cast by shadow casters 615 a and615 b in an illumination arrangement as indicated in FIG. 4 to generateedges of luminosity 650 a and 650 b. As shown, edges of luminosity 650 aand 650 b maintain their common edges and a relatively rapid transitionfrom light (e.g., a region of illumination) to dark (e.g., a region ofreduced or no illumination) over three-dimensional objects, such as acone 630, a hemisphere 634, and a rectangular block 634. Further,illuminated regions of the objects are illuminated from the lightscorresponding to shadows cast from both 615 a and 615 b such that theymay be illuminated from multiple directions to provide enhancedinformation during a 3D scan (e.g., based on the multiple directions).Shadow casters 615 a and 615 b may rotated or moved, as describedrelative to shadow casters 415 a and 415 b of FIG. 4, to translate orrotate a shadow over cone 630, hemisphere 632, and a rectangular block634, to form a three-dimensional data representation or model of each.An image capture device, such as a camera (not shown), may capturepixelated imagery associated with a point (“P1”) 664 on the surface ofhemisphere 632 at a point in time when edge of luminosity 650 acoincides with point 664. Similarly, the image capture device maycapture an image of a point (“P2”) 665 on the surface of block 634 at apoint in time when edge of luminosity 650 b coincides with point 665.

FIG. 7A is a diagram depicting a side view of an object being scanned,according to some examples. Diagram 700 depicts an image capture device701 and a source of light 703 arranged to capture images of an edge ofluminosity as it moves over the surface of an object 770. Image capturedevice 701 can be calibrated to correlate each pixel with an angularcoordinate of an optical ray, relative to a coordinate system common tothe camera, light, and plane edge of luminosity. Image capture device701 can also have its position known relative to a coordinate systemcommon to the camera, light, and pane edge of luminosity. For example, apoint (“P 1”) 766 on a surface of a plane of projection 710, absent anobject 770, may be captured as an edge of luminosity includingilluminating ray 751 a moves over point 766. One or more pixels of imagecapture device 701 (and corresponding pixel data), which, for example,may be detected along optical ray 711, can represent image data forpoint 766. An angular coordinate of point 766 can be determined by imagecapture device 701, which, along with a position of image capture device701, may define a line from camera to point 766, which is depicted asoptical ray 711 in the example shown. Given that a plane edge ofluminosity containing illuminating ray 751 a may be identified, aspatial coordinate of point (“P1”) 766 can be determined as anintersection of optical ray 711 and edge of luminosity containingilluminating ray 751 a. While diagram 700 includes projection plane 710in an example of a 3D scanning process, projection plane 710 is optionaland need not be implemented for a 3D scan.

During scanning of object 770 disposed on plane projection 710, a point(“P1x”) 764 may be identified as edge of luminosity containingilluminating ray 751 b passes over object 770 at a first point in time.At a subsequent point in time, image capture device 701 may captureanother point (“P1y”) 765 as edge of luminosity containing illuminatingray 751 c passes over object 770. Since other optical rays (not shown)intercept different points on the surface of object 770, portions of anedge of luminosity that are applied to a surface portion of object 770may be distorted from its shape on plane of projection 710 (in theabsence of object 770). Three-dimensional surface calculator 702includes logic, whether in either hardware or software, or a combinationthereof, to compute X and Y positions (not shown), and Z-depths 777 and778 for points 764 and 765, respectively.

FIG. 7B is a diagram depicting a perspective view of an object beingscanned, according to some examples. Diagram 752 depicts an imagecapture device 701 and a source of light 703 arranged to capture imagesof an edge of luminosity as it moves in direction 709 over the surfaceof an object 770. Shadow 720 and corresponding edge of luminosity 750containing illuminating ray 751 c, labeled 750 of FIG. 7B, is shownprojected onto portions of plane of projection 710 and a surface ofobject 770. Portions 773 and 775 of edge of luminosity 750 are shownprojected upon a surface of plane 710. Portion 773 of edge of luminosity750 includes a reference point (“Ref. Pt. A”) 772 and portion 775 ofedge of luminosity 750 includes a reference point (“Ref. Pt. B”) 774.While portions 773 and 775 are shown coextensive with a straight line,at least in this example, edge distortion portion 776 of edge ofluminosity containing illuminating ray 751 c is depicted as an edgedistortion portion 776 between points “m” and “n,” whereby the edgeintercepts the surface of object 770 at point 764 rather thanintercepting plane of projection 710 at point 766. Based on referencepoints 772 and 774 and either a location of a line (not shown), whichmay be equivalent of line 512 on FIG. 5, or a location of light source703, a shadow plane 755 may be derived. According to some examples, aposition of one or more shadow casters may be determined in lieu ofreference points 772 and 774. For example, a position and angle of ashadow caster may be monitored using linear or angular encoders, or anyother detection or monitoring device. Intersections of multiple opticalrays (not shown) and shadow plane 775 may be used to determine spatialcharacteristics of a three dimensional surface.

With introduction of object 770 onto plane of projection 710, opticalray 711 may intercept point 764 on object 770 rather than point 766 onplane of projection 710. Point 764 is shown on edge distortion portion776 of edge of luminosity 750. Further, shadow edge 750 is shown to havedistorted to determined Z-depth 777, indicating a corresponding Zcoordinate for point 764, measured from a line on which edge ofluminosity 750 intercepts point 766 in plane of projection 710 (in theabsence of object 770). Similarly point 764 X and Y positions (notshown) can also be determined from interception of optical ray 711 withedge of luminosity 750. Various lines, segments, triangles, planes, andother geometric relationships, as well as dimensions thereof, obtainedfrom multiple positions of edge of luminosity 750 measured usingmultiple images may be used to compute an estimation of subsets ofpoints on the surface of object 770 to form a three-dimensional model orrepresentation of the object surface.

FIG. 7C is an example flow to determine spatial locations of points onan object surface, according to some examples. Flow 790 may computespatial locations in three dimensions for points having X, Y, and Zcoordinates, the points being coextensive with a surface of an object.At 792, one or more shadow casters may be used to project edges of theluminosity that move across a scene. At 794, edges of luminosity may bedetected for points on the object sampled at each image. For example, animage capture device may capture a set of edges of luminosity relativeto an object disposed on the plane of projection with each image, and,using multiple images, may sample multiple portions of the object. Eachedge of luminosity for each image may be stored as a data representationor processed in real-time (substantially in real-time) to determine datarepresenting 3D points along an edge, which may be aggregated with other3D points to describe a three-dimensional portion of a surface. At 796,a plane associated with a position of each shadow caster may bedetermined for each image. For each point at edge of luminosity on thesurface, a shadow plane may be determined from, for example, mechanicalor optical measurements of a position of a shadow caster together with alocation of a source of light, which may be predetermined. Further, ashadow plane may be computed relative to the reference points and alocation of lights or equivalent of line 512 of FIG. 5. At 798, pointsalong a specific edge of luminosity may be determined as distinguishedfrom all points corresponding to other edges of luminosity, for eachimage. In some examples, each point may be associated with one or morepixels in an image frame. Further, a shadow plane associated with thespecific point can be identified. The specific edge of luminosity andcorresponding shadow plane can be captured for a particular image frameduring a scanning process. A “specific frame” for a specific point maybe derived based on a sequence number of a frame. At 799, an optical rayto any specific point may be identified, and an estimated coordinate X,Y, and Z for the point can be computed based on the intersection of theoptical ray and the shadow plane of the particular edge of luminosity ofthe point. An optical ray may be determined based on one or morecoordinates and an angle of a calibrated camera. Further, based on theestimated coordinates of points coextensive with a surface, athree-dimensional model of the surface may be formed. Note that in someexamples, the reference “each image” may describe each image in a subsetof images. Note, too, a color of a point on the three-dimensional modelof the surface may be derived from the image used to derive itsthree-dimensional coordinate, according to some examples. In someexamples, an image obtained near a sequence number of the frame used toderive a three-dimensional coordinate.

FIG. 8, FIG. 9, FIG. 10, and FIG. 10A, are diagrams depicting variousexamples of shadow casters, according to various embodiments. Diagram800 of FIG. 8 includes shadow caster 815 and a light source 803 (e.g.,one or more point or relatively narrow light sources) configured to forma shadow 820 and edges of luminosity 850 a and 850 b on a plane ofprojection 810. Diagram 800 also shows a projected cross-sectional area895 of shadow caster 815, whereby the dimensions and/or boundaries ofshadow caster 815 may be projected along direction 804 to form projectedcross-sectional area 895. For example, edges of shadow caster 815 may beprojected 804 onto a plane 811 parallel to a Y-Z plane to form projectededges 893 a and 893 b.

Diagram 900 of FIG. 9 includes shadow caster 915 and a light source 903(e.g., one or more point light sources) configured to form a shadow 920and edges of luminosity 950 a and 950 b on a plane of projection 910. Asshown, shadow caster 915 may be oriented at angle 920 relative to, forexample, a cross-sectional area 996 (e.g., of shadow caster 815 of FIG.8) that may be parallel to plane 911. According to this example, across-sectional area of a physical form of shadow caster 915 may bereduced in association with reduced dimensions (e.g., a reduced distancebetween an apex portion and a distal portion of shadow caster 915). FIG.9 depicts cross-sectional area 996 projected onto plane 911 as aprojected cross-sectional area 995 having projected edges 993 a and 993b. Plane 911 may be parallel to a Y-Z plane. As shown, a smaller sizedshadow caster 915, which may reduce a form factor of a 3D scanner, maysimulate implementation of cross-sectional area 996 to form edges ofluminosity 950 a and 950 b, with its profile boundaries, which are shownprojected onto plane 911, overlapping over a sufficient region ofprofile 995. Scanning in this configuration may be achieved by rotatingshadow caster 915 with a component of rotation about the line containinglights 903, while maintaining its apex (not shown) upon this line.

Diagram 1000 of FIG. 10 and FIG. 10A includes shadow caster 1015 and alight source 1003 (e.g., one or more point light sources) configured toform a shadow 1020 and edges of luminosity 1050 a and 1050 b on a planeof projection 1010. Note that a cross-sectional area of a physical formof shadow caster 1015 may be projected onto plane 1011 to form aprojected cross-sectional area 1095. For example, edges of shadow caster1015 may be projected 1004 onto a plane 1011 parallel to a Y-Z plane toform projected edges 1093 a and 1093 b. In one example, projectedcross-section 1095 may be equivalent to projected cross-sectional area895 of shadow caster 815 in FIG. 8. As shown, shadow caster 1015 may benon-planar, for example, when as its deformation from a plane is alongthe direction 1004, which is parallel to the line along the lights. Assuch, shadow casters 815 (FIG. 8) and 1015 (FIG. 10 and FIG. 10A) mayform similar or equivalent edges of luminosity, according to variousexamples.

Shadow caster 1015 may be flexibly deformable or may be rigidly formed.Shadow caster 1015 may be formed of any material (e.g., opaquematerial), such as plastic, metal, wood, etc. Shadow caster 1015 may beformed of a colored transparent material such that shadow isspecifically of one or more wavelengths of one or more wavelengthranges. In the case of a colored transparent material used for theshadow caster, edges of luminosity may be determined using an imagedetection device (not shown) with color filtering employed that enablesdetect of transitions of light of one or more particular colors,according to some examples. For making improved iterations of a shadowcaster 1015, a rough shadow caster may be used to make a roughthree-dimensional scan, which may then be used to make other closershadow casters.

In one example, shadow caster 1015 may be formed from material used inthree-dimensional (“3D”) printing techniques. As such, shadow caster1015 may be formed to conform, mimic, or replicate dimensions andcontours of a surface of an object subjected to initial profilemeasurement using a series of photographs (or digitized images), or, forexample, a prior 3D scanning. In the example shown, shadow caster 1015has been formed to replicate surface features of a vase 1080 (FIG. 10),and, for comparison, a differently shaped vase 1080 b (FIG. 10A),including surface contour 1082. Shadow caster 1015 may be formed toestablish a gap having a relatively reduced distance (or a constant orsubstantially constant distance) between a surface of shadow caster 1015and a surface of vase 1080 or differently shaped vase 1080 b. The gapdistance may be expressed relative to the X-Y plane.

Also, implementation of a gap having a relatively small distance mayprovide for enhanced accuracy and resolution of a 3D scan of object 1080or 1080 a, as described in association with FIGS. 11A to 11C. Accordingto some examples, shadow caster 1015 may provide accuracies indetermining edges of luminosity and points on a surface of an object(e.g., including pixels) in a range of millimeters, as well as ranges inthe sub millimeters (e.g., resolutions may be expressed in units ofmicrons or smaller). According to some embodiments, surfaces of vase1080 or differently-shaped vase 1080 b may be scanned with applicationof a motive force (not shown) to rotate 1092 vase 1080 ordifferently-shaped vase 1080 b about a line in a Z-direction (andperpendicular to the X-Y plane).

FIGS. 11A to 11C are diagrams depicting examples of adaptable structuralcharacteristics of a shadow caster for scanning three-dimensionalobjects, according to some examples. FIG. 11A is a diagram 1100depicting a light source 1103, a shadow caster 1115, and athree-dimensional object 1170. In the example shown, shadow caster 1115is depicted as being disposed in a plane (e.g., a Y-Z plane). Lightsource 1103 is shown to have a width W1, such as a diameter or distanceparallel to a Y axis. Also, light source 1103 may be located at distanceD1 a from point 1111 a at an edge of shadow caster 1115, and located atdistance D1 b from point 1111 b at the edge of shadow caster 1115.Object 1170 is a pyramid having a surface portion 1172 and a surfaceportion 1174, which are regions of shadow cast by points 1111 a and 1111b, respectively. Surface portions 1172 and 1174 are disposed atdistances (e.g., average distances) D2 a and D2 b, relative to points1111 a and 1111 b, respectively, and shadow caster 1115. Pyramid surfaceportions 1172 and 1174 have widths W2 a and W2 b, respectively. Notethat FIG. 11A does not show the entire regions of 1172 and 1174 as theymay be partially obscured by pyramid 1170, however, their widths alongthe Y axis are depicted as W2 a and W2 b, respectively. For example, W2a may represent a width, as measured along the Y-axis direction, of apenumbra or a width of an edge of luminosity formed in the shadow ofshadow caster 1115 and light source 1103, according to some embodiments.As the height of pyramid 1170 extends in a Z-direction from a plane ofprojection 1110 (e.g., coextensive with an X-Y plane) to apex 1171,surface portions are located at increased distances from shadow caster1115. Thus, distance D2 a may be greater than distance D2 b.

In various examples, structures described herein may be associated withcharacteristics that may be adapted to, for example, enhance one or morefunctions thereof. One or more structural characteristics of shadowcaster 1115 and/or light source 1103 may be modified to enhance, forexample, an edge of luminosity (e.g., sharpness). Structuralcharacteristics may be adapted based on a relationship in which aproduct of width W2 a and distance D1 a may be proportional to a productof width W1 and distance D2 a. Also, a product of width W2 b anddistance D1 b may be proportional to a product of width W1 and D2 b. Asan example, a relationship may be expressed as W2 a·D1 a=W1·D2 a. Insome examples, an accuracy of three-dimensional scanning may be enhancedwith increased resolution of an edge of luminosity by, for example,reducing values of W2 a and W2 b, which, in turn, may be influenced byreducing a distance between shadow caster 1115 and a surface of object1170 (e.g., reducing one or more of distances D2 a and D2 b, with D1 aand D1 b remaining constant). Width W2 may represent or otherwiseinfluence a width of a penumbra or, for example, a width of an edge ofluminosity, according to some embodiments.

In various examples, width W1 of light source 1103 may be reduced toreduce W2 a and W2 b in accordance, for example, to the followingrelationship: W2 a=(D2 a/D1 a)·W1 (for W2 a). In one instance, width W2a, for example, may reduce to less than 1 millimeter, such as to 250microns or less by, for example, implementing a light source having adiameter (or width W1) at two (2) millimeters or less and implementing aratio of D2/D1 as ¼ or less. Light source 1103 may be a halogen lightbulb or the like, according to one example, where its linear extent (notshown) is along a line 1199 connecting light source 1103 to the apex ofshadow caster 1115.

FIGS. 11B and 11C depict examples of adjusting at least a subset ofdistances D1 and D2 as a function of locations of surface portions, suchas surface portion 1172 (e.g., relative to surface portion 1174).According to some examples, shadow caster 1115 may be configured,adapted, or formed to reduce a subset of distances D2, includingdistance D2 a, while increasing a subset of distances D1, includingdistance D1 a of FIG. 11A, affecting a scan of greater resolution asdescribed in the equation above associated with FIG. 11A. Diagram 1130of FIG. 11B depicts shadow caster 1135 having an apex 1171 a oriented atan angle 1131 from a line 1179 (e.g., orthogonal to X-Y plane). At angle1131, distances D2 a and D2 b may be approximately equalized to providefor a substantially constant gap between a surface of shadow caster 1135and one or more surface portions of object 1170 of FIG. 11A. Diagram1160 of FIG. 11C depicts shadow caster 1165 including a portion 1165 aadapted to vary in the X-direction, which is the direction between alight source (not shown) and apex of 1171 b, such that shadow caster1165 has portion 1165 a that is oriented about axis 1167 by an angle1181 relative to a portion 1165 b. This change maintains the profile ofthe shadow caster as projected along the direction of the line betweenlight 1103 of FIG. 11A and apex 1171 b of shadow caster 1165, onto, forexample, a plane of projection parallel to the Y-Z plane (not shown).This change is an example that maintains that there is a single planecontaining the light 1103 of FIG. 11A, and both portions 1165 a and 1165b. At angle 1181, distance D2 a may be reduced to approach orapproximate distance D2 b. According to some cases, multiple portions1165 a (not shown) may be implemented to approximate a curvature of anobject to be scanned, or the shadow caster can be similarly distorted ina continuous manner along a Y direction to effectuate smooth profiles.

FIG. 12 is a diagram depicting an example of configurable shadowcasters, according to some examples. Diagram 1200 includes shadowcasters 1215 a and 1215 b having adaptable portions 1265 a and 1265 b,respectively, to approximate shapes of an object surface to reduce orequalize magnitudes of gap variation between shadow casters 1215 a and1215 b and an example scanned object 1270. Object 1270 is a hemispheredisposed on a plane of projection 1210. Adaptable portions 1265 a and1265 b are depicted in this example as portions angled about axes 1267 aand 1267 b, respectively. In some examples, shadow casters 1215 a and1215 b may be implemented to constitute a system of shadow casters thatoptionally may include an adaptable opaque top portion 1211 coupledbetween shadow casters 1215 a and 1215 b to contribute to the generationof shadow 1220 (or umbra) and one or more edges of luminosity 1250. Alight source (not shown) collinear with the line defined by, forexample, lines 312, 412, or 512 of FIG. 3, 4, or 5, respectively, maylie above shadow casters 1215 a and 1215 b, and between them withimplementation of top portion 1211 (or portions 1265 a and 1265 b), atleast in some cases. Note that adaptable portions 1211, 1265 a, and 1265b may be subdivided in any number of planar portions to approximate acurvature. Alternatively, adaptable portions 1265 a and 1265 b may beformed as, or configured to include, one or more curved portions.

According to some embodiments, shadow caster portions 1215 a and 1215 bmay be detected by an image-capturing device (not shown) to, forexample, determine geometry of a plane of an edge of illumination. Thisdetermined plane of edge of illumination may then be used in conjunctionwith a deformation of the edge of illumination to determine the shape ofobject 1270. Shadow caster portions 1215 a and 1215 b may be similar to815, 915, and 1015 in having a triangular profile in order to define asingle plane edge of illumination on each edge. Alternatively, shadowcaster portions 1215 a and 1215 b may be structural and supportive ofportions 1211, 1265 a and 1265 b and not in itself cast a shadow edgeonto object 1270. Note while object 1270 is depicted as asmooth-surfaced hemisphere, any shaped object may be used. In somecases, object 1270 may include surface topologies and textures thatinclude convex and concave surface portions, including, but not limitedto, protruding or ridge-like features and depressions, fissures, orgrooves, and the like. In some examples, object 1270 may berepresentative of a surface of a brain, or any other organic structure.

In at least one example, a shadow caster may include section 1211, whichmay have one or more straight edges parallel to a line containing alight source (not shown), and section 1211 may extend longitudinally(e.g., having a perimeter 1299) so as to cast a shadow over eachdimension of object 1210. Thus, portions 1265 a and 1265 b may beomitted. In such a case, there may also be multiple light sources (notshown) parallel to each other and to 1211. The multiple parallel lightsources may be illuminated sequentially (and/or spatially) to generate asequence of straight shadows. A parallel light source or the shadowcaster, or both, may be moved to effectuate a scan across a surface ofobject 1210 and may have multiple rows of lights that need not bedisposed on an axis of rotation. Such a configuration may generate oneor more shadow planes with a geometry that may be used in conjunctionwith a deformation of an edge of luminosity to determine thethree-dimensional shape of object 1270. Parallel light sources mayextend to regions above section 1211 to generate the edge ofillumination of object 1270. According to at least one example, one ormore light sources may be limited in extent so as to extend abovesection 1211 without (or with minimal or negligible) extensionslongitudinally to either side along an X-direction, which maysufficiently illuminate object 1270 (e.g., evenly illuminate object1270) on its illuminated portion while also producing an edge ofluminosity with enhanced contrast.

According to various examples, selectably-opaque shadow casters may beformed such that a shadow caster may implement one or more portions thatare opaque to white light, or they may include colored portions that maybe configured to selectably reduce or negate transmission of certainwavelengths of light (e.g., implementing color filtering). Edges ofluminosity may then be determined by illuminated regions transitioningto relatively darker regions of illumination (e.g., region of lessillumination) at wavelengths variously transmitted by the shadowcasters. Alternatively, an edge of luminosity may be determined byregions illuminated at one wavelength range transitioning to regionsilluminated by one or more other wavelength ranges. Shadow casters maycontain multiple wavelength transmission regions arranged in a patternthat may also have opaque regions in combination.

Selectably-opaque shadow casters may be configured to be opaque relativeto one or more ranges or bands of wavelengths of light. Thus, aselectably opaque shadow caster may selectably filter out one or moreranges of wavelengths of light to allow selected wavelengths to passthrough. In one example, different selectably opaque shadow casters maybe implemented as colored transparent shadow casters that cast lightthat transitions from blue light to red light, whereby an example of aset of colored transparent shadow casters may include at least two flatcolor-filters abutting each other. One transparent shadow caster may bered and the other may be blue. When scanning, a scene transition fromblue to red may constitute an edge of illumination, and may be filteredto identify the blue-to-red transition from other changes in the scene.Keeping track of this color change provides a technique to track shadowmotion, even if other things in the scene change. As such, a particularcolor change (regardless of the colors) may be processed to identify anedge of illumination. According to various examples, the above-describedselectably-opaque shadow casters may facilitate 3D scanning when object1210 (or any other object) may move relative to an image capture device(e.g., in a controllable way). A mobile computing device, such as amobile phone with a camera or any other mobile device, may implement theabove-described selectably-opaque shadow casters, according to someembodiments.

FIG. 13 is a diagram depicting an example of a scanning system,according to some examples. Diagram 1300 depicts another example of ashadow caster 1315 as a constituent component of a scanning systemincluding an image capture device 1301, one or more sources of light1303, a reflective surface 1320 (e.g., a reflective plane or mirror).Reflective surface 1320 may obviate implementation of another set of ashadow caster and a light source opposite shadow caster 1315. Object1370 is disposed on planar projection 1310 and its reflection 1370 r isdepicted in reflective surface 1320. Further, diagram 1300 depicts apoint (“P2”) 1368 on the surface of object 1370 as reflected point(“P2r”) 1369 in reflective surface 1320. As shown, casted shadow 1398 onobject 1370 may be reflected as shadow 1398 r on reflection of object1370 r. Note that photonic emission, including light, may travel afarther distance to illuminate point 1368 (via reflected light) thanthat may travel to point 1366. Thus, light reflected by reflectivesurface 1320 into image capture device 1301 from a surface portionincluding point 1368 may be less bright and less accurate than reflectedlight from another surface portion including point 1366. However,distance D1 of the relationship W2=(D2/D1)·W1 may be modified relatively(e.g., increased) to enhance contrast, among other things, associatedwith an edge of luminosity at point 1368.

Image capture device 1301 may observe the reflected object 1370 as 1370r and may thereby observe portions of 1370 not otherwise visible throughthe unreflected or direct observation of object 1370. In this way, otherreflective surfaces (not shown) may be disposed within the field of viewof image capture device 1301 such that image capture device 1301 mayobserve one or more portions of 1370 in reflection not otherwise visiblethrough unreflected or direct observation of object 1370. For example,one may make the plane of projection 1310 a reflective surface thatwould reflect the underside of objects disposed upon them to imagecapture device 1301. A shadow caster may then be moved, for example, toeffectuate a scan such that edges of luminosity may also reflect fromthe reflective surface onto regions not otherwise accessed by the shadowthrough unreflected or direct projection of the shadow edge onto object1370. Reflective surfaces may be a flat geometry but may also be curvedor include curved surfaces or segments of flat surfaces or a combinationof both.

FIG. 14 is a diagram depicting yet another example of a scanning system,according to some examples. Diagram 1400 illustrates a scanning system1490 including an image capture device 1401, a shadow caster 1415, oneor more light sources 1403, and a stand or structure 1409 configured toimplement or integrate the foregoing components. Scanning systemsdescribed herein may be scalable to scan relatively small objects andrelatively large objects, such as objects in any environment. Examplesof an environment include a room (e.g., persons, appliances, furniture,etc.), and outside buildings (e.g., scanning of the building, vehicles,trees, etc.). In the example shown, scanning system 1490 may beconfigured to scan a couch 1470 and a wall ornament 1472, such as amirror or painting, in a room defined by planes of projection 1410 a(e.g., a floor), 1410 b (e.g., a rear wall), and 1410 c (e.g., asidewall).

In the example shown, shadow caster 1415 may be implemented as adiamond-shaped structure, or any equivalent shadow caster havingcross-sectional area that may generate similar or equivalent singleedge, or sharp shadow, or two edges of luminosity as described inassociation with, for example, shadow casters in FIGS. 9 and 10. Shadowcaster 1415 a is shown to be formed as, for example, two (2) triangularshaped structures 1466 and 1468 joined or coupled at line 1479. Apex1431 a and apex 1433 a may be disposed on an axis of rotation 1412,whereby rotation of shadow caster 1415 a about axis 1412 may generateedge of luminosity 1450. Further, light source 1403 may be implementedas light source 1403 a, which may include a light source or a lineararrangement of one or more light sources along an axis spanning from apoint 1431 b to a point 1433 b. One example of light source 1403 a maybe an elongated halogen bulb. Another example of light source 1403 a maybe a linear array of light-emitting diodes. Points 1431 b and 1433 b oflight source 1403 a may be collinear with points 1431 a and 1433 a,respectively, on axis 1412. According to various examples, shadow caster1415 and light source 1403 may be implemented in any number ofstructures or varieties, and those depicted in diagram 1400 are notintended to be limiting. Furthermore, scanning system 1490 and otherscanning systems described herein may be varied and adapted to anynumber of applications, including medical applications and augmentedreality applications, among others.

FIG. 15 depicts an example of a scanning system configured to performmedical applications, according to some examples. Diagram 1500 includesa medical instrument or tool, such as a surgical microscope 1530.Surgical microscope may be adapted to implement data generated by ascanning system configured to perform three-dimensional scanning oftissue in vivo, such as brain tissue (i.e., as an object 1570), formedical applications. Further, scanning system of diagram 1500 mayfacilitate in situ three-dimensional scanning of brain tissue duringsurgery.

Surgical microscope 1530 includes optical components 1538, including eyepieces, which may be configured to magnify relatively small features ofinterest, including tissue, and may further be configured to integratedigitally-created imagery that may be integrated or overlaid over amagnified view of brain 1570. According to the example shown, surgicalmicroscope 1530 may be coupled electronically or optically to anaugmented image generator 1590, which, in turn, may be coupledelectronically or optically to an image capture device 1501. In someexamples, surgical microscope 1530 may be coupled electronically oroptically to image capture device 1501, which, in turn, may be coupledelectronically or optically to augmented image generator 1590. In someexamples, augmented image generator 1590 may optically augment a view ofmagnified brain tissue by applying (e.g., overlaying) 3D scanned-basedimagery onto a view of the brain tissue. For example, cross-hatchinggraphics representing a target brain portion (e.g., for repair orremoval) may be overlaid in three dimensions onto a view or digitalimage of the magnified brain tissue so that a surgeon may readilyidentify the target. Housing 1532 of surgical microscope 1530 mayinclude processors and electronic components configured to executeinstructions (e.g., software, firmware, etc.) to optically combine imagedata generated by augmented image generator 1590.

A scanning system of diagram 1500 may implement any type or number ofshadow casters in accordance to a variety of examples. One or morescanning systems may include one or more subsets 1503 of one or morelight sources, and a subset of shadow casters configured to form ashadow 1520 and one or more edges of luminosity 1550. A subset of shadowcasters may include one or more of shadow casters 1515 a and 1515 b in afirst exemplary implementation. Another subset of shadow casters mayinclude one or more of shadow casters 1515 c and 1515 d in a secondexemplary implementation. Other shadow caster and light sourcestructures may be used, as well.

In various applications, including medical application, a scanningsystem of diagram 1500 may have resolutions of less than 1 millimeter(e.g., 25 microns or less), at least in some cases, to form 3Drepresentations of at least a portion of brain 1570. In some cases,scanning system of diagram 1500 may provide 3D surface information ofresolutions finer than that available using magnetic resonance imaging(“MRI”) scan data, or other technologies, such as computed tomography(“CT”) scan data.

Organic objects consisting of soft tissue, such as brain 1570, may havethree-dimensional surface shapes that may change or vary due to alteredconditions. For example, flexible soft tissue may have a firstthree-dimensional surface shape in a first state (e.g., undisturbed,prior to surgery), whereby the surface shape may vary from the firststate when transitioned to a second state (e.g., subsequent to a medicalor surgical procedure). In one example, the surface shape may vary instate rhythmically (e.g. in response to the rhythmic blood pressurevariations due to the heart beating). In at least one state, the surfaceof brain 1570, or a portion thereof, may be scanned using one or more ofshadow casters 1515 a, 1515 b, 1515 c, and 1515 d to form athree-dimensional model of brain 1570. A camera 1501 may capture imagesof brain 1570 and augmented image generator 1590 may determine X, Y andZ coordinates of pixels representing points on the surface of brain1570. In the case where the surface shape is changing in rhythmicresponse to variations (e.g. heart beating and pulsating blood flow),the scan may be performed over a time period that allows measuringsurface 1570 at multiple stages in the rhythmic response, such thatsurface 1570 may be determined at each of those stages. This may beachieved by correlating stages of the measured surface 1570 with stagesin the rhythmic response as the scan is being performed.

In particular, a scanning system of diagram 1500 may be configured tocapture digitally the contours and other anatomical features of brain1570. For example, the surface curvature and contours of a modeled brainsurface may include ridges (i.e., gyri) and grooves (i.e., sulci) of thecerebral cortex in three-dimensional space. Further, the scanning systemof diagram 1500 may be configured to capture the three-dimensionalsurface features of a vascular system serving the brain (e.g., veins,arteries, capillaries, etc.), whereby vascular tissue may be used asmonuments (or guide posts) to provide a vascular “roadmap” to assistsurgeons navigating a blood vessel to a portion of brain 1570. Some ofthese vessels may be more fine than a resolution of associated MRI or CTscans.

Before the operation, a patient may undergo a diagnostic procedure suchas magnetic resonance imaging to obtain MM scans, which may depict 2Dand 3D images of brain 1570, including interior structures. Thereafter,brain 1570 may be exposed subsequent to a craniotomy, or removal of aportion of a bone. A scanning system of diagram 1500 may optionally beused to generate a 3D scan of an exposed portion of brain 1570 (e.g.,prior to disturbance of the structure of brain 1570). Augmented imagegenerator 1590 may be configured to receive a first subset of datarepresenting MM scans of a brain and a second subset of datarepresenting 3D scan data of brain 1570 originating from the scannersystem of diagram 1500. Further, augmented image generator 1590 mayinclude processors and electronic components configured to executeinstructions (e.g., software, firmware, etc.) to associate the 3Dsurface of the second subset of data to the Mill-generated surface ofthe first subset of data. Thus, 3D scan data from the second subset ofdata may be associated with data representing interior structures of theMill-generated brain scan data from the first subset of data.

With a portion of a skull removed, brain tissue forming a portion of acerebral cortex may be accessed via an incision into a membrane (e.g.,pia mater, etc., or other fluid barrier tissue). Incisions into themembrane surrounding brain tissue may result in loss of fluid (e.g.,cerebrospinal fluid, or CSF), thereby causing a change in a structuralstate of the brain. With loss of the fluid, brain tissue structures candeflate or otherwise deform due to a change of mechanical properties,which, in turn, may cause brain tissue structures to shift. Therefore,shifted brain tissue introduces error into using MRI data to locatesurface and interior structures of brain tissue to identify a targetedlocation of brain tissue.

Post-incision, the scanner system of diagram 1500 may be used todetermine the curvature and contours brain 1570 after brain tissue shapeshifts due to decreased internal fluid pressure. Subsequently, augmentedimage generator 1590 may include logic configured to form a secondthree-dimensional model of surface of brain 1570, which may includepositional deviations in brain tissues and vascular structures relativeto MRI scan data. Further, augmented image generator 1590 may includelogic configured to identify vascular structures and other landmarkssuch as specific sulci and gyri, in three-dimensional brain models inboth pre-incision and post-incision states, and determine positionaldeviations for registration and alignment of digital imagery. Asvascular tissue (e.g., blood vessels) may be resiliently affixed toadjacent brain tissue, the deviation in vascular structures may be usedinstead of, or in addition to, the deviation of the specific sulci andgyri to predict post-incision positions of interior brain tissueportion. Further, previously obtained MRI scan data may be adjusted toreflect the predicted post-incision positions of interior brain tissue.Hence, the movement of capillaries and sulci and gyri with associatedbrain tissue may aid in predicting a location of targeted brain tissue.During a medical procedure, scanner system of diagram 1500 may also beused to determine affected portions of the brain (e.g. after braintissue has been excised or otherwise changed). Previously-obtained MRIscan data may be adjusted to reflect the predicted post-incisionportions of brain tissue thus affected by the medical procedure.

Logic in augmented image generator 1590 may be configured to correlatechanges in locations of vascular structures to predict positiondeviations of interior brain tissue from initial MRI scan data.Additionally, the predicted position deviations of interior brain tissuemay be determined by calculating brain deformation that approximatesexpected changes based on a model of brain deformation data andcalculations. According to some examples, a model of brain deformationdata may represent expected changes in a brain as a function of variousfactors (e.g., amount of fluid loss, incision size, gender, age,ethnicity, infirmity, etc.). Such a model may be used to predict how abrain structure may deform due to a loss of cerebrospinal fluid. Thebrain deformation data may be formed empirically and/orprobabilistically (e.g., mathematically) via computing algorithms.

In view of the foregoing, a targeted portion of brain tissue may belocalized prior to surgery within a three-dimensional space of brain1570. An example of a targeted portion of brain tissue may be that whichcauses pediatric epileptic seizures. Removal of the targeted portion ofbrain tissue may alleviate symptoms, including seizures. In accordancewith the above-described implementation of the scanner system of diagram1500, augmented image generator 1590 may be configured to identify orpredict positional deviations of brain tissue at the surface and withinthe interior of brain 1570. Thus, augmented image generator 1590 may beconfigured to identify or predict positional deviations of a targetedportion of brain tissue additionally identified, for example, in aninitial MM.

According to various examples, the above-described techniquesimplementing the scanner system of diagram 1500 may be applicable toother brain related diagnostics, testing, surgeries, and remedies.Moreover, the above-described techniques may be applicable to anymedical application, including hard tissues (e.g., bones, etc.). Anotherexample is the use of the scanner system of diagram 1500 for woundhealing. For example, consider a scanner system similar to that ofdiagram 1500 (excluding surgical microscope 1530) may be disposed at aresidence of diabetic patient to monitor a wound (e.g., an ulcer)against infection. The patient may have the wound scanned threedimensionally (e.g., with or without color) to generate wound shape datathat may be transmitted via a network to a healthcare provider tomonitor the rate of healing of the wound. The above-described examplesare non-limiting and may be applicable to any medical or non-medicalapplication.

FIG. 16A is a diagram depicting a specialized surgical microscopeincluding a system of shadow casters, according to some examples.Diagram 1600 includes a surgical microscope 1630, an augmented imagegenerator 1650, and an image capture device 1601 configured tofacilitate in situ three-dimensional scanning of brain 1670. Accordingto some examples, elements depicted in diagram 1600 of FIG. 16A mayinclude structures and/or functions as similarly-named orsimilarly-numbered elements depicted in other drawings. In this example,shadow casters 1615 c and 1615 d and light sources 1603 may interact asa system 1680 to form shadow 1620 and one or more edges of luminosity1650. In some embodiments, shadow casters 1615 c and 1615 d and lightsources 1603, or equivalents thereof, may be disposed within housing1632 to form an integrated three-dimensional scanning surgicalmicroscope configured to perform 3D scanning in accordance to examplesdescribed herein.

FIG. 16B is a diagram depicting yet another specialized surgicalmicroscope including at least one shadow caster, according to someexamples. Diagram 1650 includes a surgical microscope 1630 and otherelements described herein configured to facilitate in situthree-dimensional scanning of brain 1670. According to some examples,elements depicted in diagram 1650 of FIG. 16B may include structuresand/or functions as similarly-named or similarly-numbered elementsdepicted in other drawings. In this example, shadow caster 1680 andsubsets of light sources 1691 a, 1691 b, and 1691 c may interact as asystem 1690 to form shadow 1620 and one or more edges of luminosity 1650as a function of a subset of light sources 1691 a, 1691 b, and 1691 cbeing illuminated at different points in time. An example of shadowcaster 1680 is described in FIG. 12, and light sources 1691 a, 1691 b,and 1691 c may be disposed above shadow caster 1680. According to someexamples, subset of light sources 1691 a, 1691 b, and 1691 c areimplemented as multiple parallel light sources that may be illuminatedsequentially and/or spatially to generate a sequence of shadows (e.g.,straight shadows or edges of luminosity). In some embodiments, shadowcaster 1680 and light sources 1691 a, 1691 b, and 1691 c, or equivalentsthereof, may be disposed within housing 1632 to form an integratedthree-dimensional scanning surgical microscope configured to perform 3Dscanning in accordance to examples described herein.

FIG. 17 is a diagram depicting a magnified image based onthree-dimensionally-scanned features, according to some examples.Diagram 1700 includes optical components 1738 configured to magnifyportions of a brain 1770. A surgical microscope to which opticalcomponents 1738 couple is not shown. Diagram 1700 also includes anaugmented image generator 1790 configured to integrate optical imageryof brain 1770 (based on light reflected from surface of the brain) anddigitally-generated image overlay data representing, for example, asurface location of target brain tissue 1788, which may be observablevia optical components 1738. In some examples, a surgeon or any otheruser may view via optical components 1738 an image presented in inset1722. For example, one may view a brain 1770 s, and portions thereof, ineyepieces 1738 relative to gyri or sulci or relative to a vascularsystem 1775 s of blood vessels having various number or size. In someexamples, contours of brain 1770 s may be captured via three-dimensionalscanning as ridges (gyri) 1784 and grooves (sulci) 1786. According to atleast one example, inset 1722 may include either real (e.g., directlymagnified) imagery or simulated imagery (e.g., based on imageprocessing), or a combination of both.

FIG. 18 is a functional block diagram depicting in vivothree-dimensional scanning and image integration, according to someexamples. Diagram 1800 includes an augmented image generator 1890, atissue model data repository 1830, and a scanned tissue data repository1832, one or more of which may be implemented to form, for example,imagery depicted, for example, in FIG. 17. Scanned tissue datarepository 1832 is configured to receive scanned brain data 1802representing two-dimensional and/or three-dimensional anatomicalfeatures and structures of brain 1870. For example, data 1802 mayinclude Mill data, CT data, MEG data, PET data, or any otherbrain-related data may be stored in scanned tissue data repository 1832and retrieved by augmented image generator 1890 as data 1824. Tissuemodel data repository 1830 may be configured to store data models todetermine or predict a rate of change in brain deformation or positionaldeviation in a brain based on a function of various factors (e.g.,amount of fluid loss, incision size, gender, age, ethnicity, infirmity,etc.). These data models may be used by augmented image generator 1890to predict and simulate mathematically (e.g., probabilistically) adegree to which a brain structure may vary (e.g., with respect to size,position, location, etc.) due to a corresponding loss of cerebrospinalfluid or extracted tumor or brain mass. Data 1822 from the data modelsmay be retrieved by augmented image generator 1890. According to someexamples, elements depicted in diagram 1800 of FIG. 18 may includestructures and/or functions as similarly-named or similarly-numberedelements depicted in other drawings. Augmented image generator 1890 isshown to include an augmented imagery controller 1851, a biologicmonument generator 1852, a biologic monument mapper 1853, a tissuecorrelator 1854, a target tissue integrator 1855, and an image generator1856. According to at least some examples, augmented imagery controller1851 may be configured to control subsidiary functions (e.g., elements1852 to 1856) of augmented image generator 1890 to facilitate an overallfunction of augmented image generator 1890.

Biologic monument generator 1852 may be configured to access scannedtissue data 1824 (e.g., MM data) to generate data 1840 representingcharacteristics of vascular or brain data 1842, such as spatialdimensions, positions, etc., of blood vessels. Data 1842 represents adata structure including data 1840 specifying, for example, spatialdimensions, positions, etc., of geometric features based on, forexample, blood vessels or any other physiological feature, such asfeatures of sulci, gyri, or the like. Vascular data 1842 may originatefrom data 1824. Data 1840 is an example of data retrieved from datastructure 1842, which enables portions of vascular system data 1842 tobe used as “monuments” (e.g., survey monuments identifying a “roadmap”to brain portions of interest), or reference points relative to, forexample, adjacent brain tissue. According to some examples, geometricfeatures, such as vascular geometric features may be described invascular system data 1842, which may represent characteristics (e.g.,surface features) of a vascular system for brain 1870 prior to surgicalor other structural disturbances.

Biological monument mapper 1853 may be configured to map or otherwisecorrelate an updated subset of data 1844, which includes datarepresenting brain or vascular data (e.g., at the surface of brain 1870post-incision) derived via three-dimensional scanning by a modelgenerator. In some examples, biological monument mapper 1853 may be ableto compute and characterize positional displacement of portions of brainor vascular data 1842 based on structural brain deformation. Positionaldisplacement data 1843 may be received at tissue correlator 1854.

Tissue correlator 1854 may be configured to correlate surface featuredata 1843 of a deflated brain to initial MM surface data 1824 toidentify original portions of brain tissue initially detected by MM.Based on displacement of blood vessels and surface features (e.g.,ridges and grooves), the displacement in surfaces portions can beidentified, as well as displacement of targeted portion of brain tissue1888. It may also be configured to access tissue model data repository1830 to perform calculations that estimate and predict displacement ofthe surface of interior brain structures.

Target tissue integrator 1855 is configured to identify a portion oftargeted brain tissue, which may or may not be associated with a dye,relative to Mill data 1824. The targeted tissue 1888 may represent, forexample, brain tissue associated with pediatric epilepsy, or a tumor.Further, target tissue integrator 1855 may be configured to calculatedisplacement of targeted tissue 1888 in relation to post-incisionactivities and data from tissue correlator 1854. For example, tissuecorrelator 1854 may be configured to determine positional deviationswith which to adjust target tissue 1888 for identification andextraction.

Image generator 1856 may be configured to generate image data 1846 thatdepicts an overlaid target tissue 1888 upon an image 1848 of a brain inreal-time (or substantially in real-time), as well as in vivo. Imagedata 1846 is depicted as a real-time 2D or 3D image of an in-vivo viewthat augments data 1844 providing a view with a view of targeted region1888 overlaid thereupon. Therefore, a surgeon may be enabled to addresstargeted tissue 1888, and upon extraction of a brain portion at 1899 (asurgical modification), the remaining brain portions to be extracted maybe detected in vivo based on 3D scanning to update subset of data 1844.Augmented image generator 1890 may recalculate graphical overlay datafor optical presentation of remaining tissue to a surgeon for subsequenttreatment. Thus, a surgeon may view the “peeling away” of extractedtissue based on in situ 3D scanning and presenting via opticalmicroscope or other surgical navigation device or display the remainingtissue to be extracted in vivo. According to various other examples,functional block diagram 1800 may be varied in accordance with thevarious examples described herein.

FIG. 19 is a diagram depicting yet another example of one or more shadowcasters configured to generate one or more edges of luminosity,according to some examples. Diagram 1900 depicts a wearable shadowcaster, such as wearable system 1911 that may be configured to generateat least one edge of luminosity to facilitate three-dimensionalscanning. In this example, wearable system 1911 is eyewear that includeat least a front housing 1921 having at least one shadow caster 1920having an edge 1950 configured to generate an edge of luminosity. Shadowcaster 1920, at least in some examples, may be an opaque film applied toa transparent surface (e.g., lenses or frame of eyewear). The eyewearmay also include earpieces 1906 to secure about a user's ears and templebar structures 1907 that may include electronics, light guides, etc. tofacilitate implementation of the eyewear as three dimensional scannerincluding a shadow caster disposed therein. The eyewear may receivelight and electronic signals via conduit 1908 from a power and lightgeneration module 1909, which may be optional and may be disposedanywhere on a user's person or elsewhere.

Further to wearable system 1911, the eyewear may include an optionaltransparent structure 1924 through which photonic emissions, includinglight, may be transmitted. Transparent structure 1924 may implementFresnel prisms as a layer to control forward transmitted light along thedirection parallel to edge 1950. A lens 1901, which may be optional, maybe configured to receive projected light (not shown) upon which to forma heads up display, or HUD, at least in some cases. In the exampleshown, light sources may be implemented as optical fibers (e.g., fiberoptic) configured to emit light as, for example, light beams 1930, 1930a, and 1930 n (e.g., as formed from a source behind temple bars orsimilar structures). Many more light beams may be implemented, or beamsmay be in the shape of a continuous emitted line as would result fromthe partially overlapping combination of many light beams 1930, 1930 a,and 1930 n. Further, the wavelengths of light transmitted via the fiberas light emission or beams 1930, 1930 a, and 1930 n may be of anywavelength range. For example, light emitted from the optical fibers maybe in a range of wavelengths of light not detectable or perceived by thehuman eye (e.g., within non-visible spectra of light). In some examples,front view 1940 depicts light emission 1930, 1930 a, and 1930 n fromfibers, whereby the light emissions may impinge at edge 1950 of shadowcaster 1920 to form an edge of luminosity. Front view 1940 in thisexample is shown to be in a plane parallel to a Y-Z plane (e.g. viewingalong the X-axis). Further to front view 1940, light beams may bedirected at any distance (“F”) 1941 along edge 1950, relative to eachother (e.g., next to each other), and the distance between each otherneed not be the same. Any number of ends of fibers may be implemented togenerate any number of light emissions 1930, 1930 a, and 1930 n.

According to some examples, light beams 1930, 1930 a, and 1930 n may bedisposed or oriented such to traverse a common plane, such a planeparallel an X-Y plane. In some examples, light emission 1930, 1930 a,and 1930 n from each fiber and/or ends of fibers (not shown) may eachemit such that at edge 1950 its direction is parallel to a line 1919normal surface of shadow caster 1920. Or, light emissions 1930, 1930 a,and 1930 n from each fiber and/or ends of fibers may each emit such thatat edge 1950 their direction may be at angles relative to 1919 that areparallel to the X-Y plane containing shadow caster 1920. To effectuate asharp edge of luminosity in the case of a shadow caster 1920 linear inall dimensions X, Y, and Z, one or more fibers may be arranged so thatone or more light beams 1930, 1930 a, and 1930 n are emitted such thatat edge 1950 their directions are at any angle in an X and Y plane, andcontaining a common component in the Z direction relative to line 1919.

Side view 1942 depicts a side of fiber 1966 emitting light 1946 that isprojected against shadow caster 1920 and edge 1950 to form light beam1930 n. Light 1946 may be collimated (e.g. straight) as shown in sideview 1942, or it may diverge such that it gets wider as it reaches theshadow caster 1950. Side view 1942, in this example, is shown to be in aplane parallel to an X-Z plane. An end 1969 of fiber 1966 from whichlight is emitted may have a dimension, such as a width (“W1”) 1927. End1969 of fiber 1966 may be disposed in, for example, one or more of afront housing 1921 and a temple bar structure 1907. Further, ends 1969of fibers 1966 may be disposed at any distance (“D1”) 1929 from shadowcaster 1920. A depth (“H”) of front housing 1921 may be extended toaccommodate greater distances 1929. According to some examples, adiameter, or W1, may be in a range of 25 to 50 microns, or less, or in arange up to 400 microns. In another example LEDs or micro-LEDS may beused instead of fibers 1966 with width W1. In addition, a layer ofFresnel prisms may be used to affect light exiting fiber ends 1969 togenerate light beams 1930, 1930 a, and 1930 n as described above withrespect to line 1919.

In operation, wearable system 1911 is configured to generate at leastone edge of luminosity that is projected onto an environment, such as aroom including appliances, furniture, people, etc. Movement of shadowcaster 1920 may coincide with the movement of a user's head when theuser is assessing and reviewing its surrounding environment, such as ina room. In some examples, electronics in temple bar structures 1907 mayinclude processors, memory, accelerometers, etc. In one case, one ormore accelerometers, tilt meters, compasses, gyroscopes, etc., maydetermine a rate at which a user is moving its head. Thus, logic intemple bar structures 1907 may detect a rate at which an edge ofluminosity is sweeping across an environment or scene for purposes offorming a 3D model of the environment, if desired. The sweep rate may betransmitted via a radio transceiver in eyewear system 1911 or power andlight generation module 1909. In another case, external fiducials (e.g.reflective markers or IR LED emitters, which are not shown) may be usedby external detectors (not shown) of the position and orientation of1911. Such external detectors may be, for example, cameras or fieldproximity sensors.

In some examples, electronics in temple bar structures 1907, or anyother portion of wearable shadow caster 1911, may include processors andmemory to support video projection onto, for example, one or more lenses1901 to overlay graphical imagery over a view of three-dimensionalobjects in an environment provide to create augmented reality imagery.For example, a user wearing wearable shadow caster 1911 may look at achair in a room, whereby wearable shadow caster 1911 (and an imagecapture device) may capture the three dimensional spatial dimensions andsurfaces of the chair. Further, wearable shadow caster 1911 may receivevideo or imagery that overlays a different color over the user's view ofthe chair on lens 1901. Also, wearable shadow caster 1911 may receivevideo or imagery that overlays a graphical representation of a personsitting in the chair over the user's view of the chair on lens 1901.

FIG. 20 is a diagram depicting an example of light projection directionoriginating at a wearable system, according to some examples. As shown,the light projection directions may emit from many fiber or LED sourcesdisposed along temple bars of wearable system 2011. Diagram 2000includes a user 2091 wearing a wearable system 2011 and a front housingdepicted as a dashed line, through which light beams 2030, 2030 a, 2030n, 2032, 2032 a, and 2032 n transmit. Front housing may have a depth(“H”) 1931 as described in reference to FIG. 19. Referring back to FIG.20, light beams 2030, 2030 a, 2030 n, 2032, 2032 a, 2032 n mayalternatively partially overlap to affect a continuous distribution oflight (not shown). At least light emissions 2030 n and 2032 n may beparallel to a line of sight. In some cases, light emissions 2030, 2030a, 2030 n, 2032, 2032 a, and 2032 n each may project into environment2090 parallel to a line of sight (not shown). As shown, a subset oflight emissions, such as light emissions 2030, 2030 a, 2032, and 2032 amay project at angles to the line of sight (e.g., to illuminate surfacefeatures in the environment that may be parallel to the line of sight).In the example shown, light emissions 2030, 2030 a, 2030 n, 2032, 2032a, and 2032 n may be used to determine three-dimensional spatialdimensions of a contoured surface 2060 at distance 2040 relative towearable shadow caster 2011.

Examples of light emissions depicted in diagram 2000 may be varied oradapted based on the suitability of a particular application. Forexample, wearable shadow caster 2011 may be worn by a surgeon performingbrain surgery or any other medical application. According to variousexamples, wearable shadow caster 2011 may be implemented for purposes ofcommunication, such as three-dimensional web camera communications, andthe like. In some cases, wearable shadow caster 2011 may be configuredto facilitate virtual reality applications and augmented realityapplications. For example, wearable shadow caster 2011 may include oneor more lenses or one or more transparent surfaces (not shown) uponwhich a heads up display (“HUD”) or a reduced video image may beprojected thereupon.

FIG. 21 is a diagram depicting an image capture device implemented witha wearable shadow caster, according to some examples. Diagram 2100includes a user 2191 wearing a wearable system 2111 and a wearablecamera 2117, which may include processors, memory, and a radio totransmitted and receive data, including data associated with edges ofluminosity projected upon surfaces in an environment. Wearable camera2117 may also include accelerometers, tilt-detectors, compass, etc., fordetermining and reporting its location and orientation, especially withrespect to the wearable system 2111. As shown, light emissions 2130 maybe projected within a plane including a line of sight, or may beprojected as light emission 2135 at an angle to the line of sight. Asshown, light 2182 reflected back into camera 2117 may be at a distance2180 from light emissions 2135. According to some examples, distance2180 may be at 20 centimeters, or within a range that includes 20centimeters. In this example, as in others, camera location distance2180 separates that camera from the shadow plane to observe adeformation in the edge of luminosity that results from shape 2060 ofFIG. 20. In at least one example, distance 2180 may be reduced withoutadversely affecting the determination of 3D information of surface 2060of FIG. 20 by modifying other parameters with which wearable shadowcaster 2111 operates. In other various examples, camera 2117 may bedisposed off-person (e.g., the camera need not be worn). Thus, anothercamera 2117 may be co-located in an environment in which wearable shadowcaster 2111 is disposed, whereby camera 2117 and 2111 may exchange datawith each other wirelessly. According to some examples, elementsdepicted in diagrams 2000 of FIG. 20 and 2100 of FIG. 21 may includestructures and/or functions as similarly-named or similarly-numberedelements depicted in other drawings. In one example, wearable shadowcaster 2111 and a wearable camera 2117 may be used interchangeably withscanning system 1490 of FIG. 14.

FIG. 22 is a diagram depicting multiple wearable shadow casterscollaborating in a common environment, according to some examples.Diagram 2200 depicts an environment, such as a room 2210, which includesvarious surface features of a couch 2222, a billiard table 2224, and achair 2226. Further, room 2210 includes a subset of users 2210 a, 2210b, 2210 c, and 2210 d wearing wearable shadow casters 2211 a, 2211 b,2211 c and 2211 d, respectively. Each of wearable shadow casters 2211 a,2211 b, 2211 c and 2211 d may include processors, memory, and otherelectronic components, such as accelerometers, video image generators,GPS transmitters, gyroscopes, cameras, radio transceivers (e.g., RFradio transmitters and/or receivers), etc. While not shown, imagecapture devices or cameras may be associated with each of users 2210 a,2210 b, 2210 c, and 2210 d. According to some examples, elementsdepicted in diagram 2200 of FIG. 22 may include structures and/orfunctions as similarly-named or similarly-numbered elements depicted inother drawings.

In some examples, one or more off-person (or remote) cameras 2201 maycapture images of multiple edges of luminosity from multiple wearableshadow casters that are reflected off various surfaces. According tovarious examples, one or more of cameras 2201, augmented image generator2290, and wearable shadow casters 2211 a, 2211 b, 2211 c, and 2211 d maybe configured to determine location and orientation of users 2210 a,2210 b, 2210 c, and 2210 d (and cameras). Also, fiducials (e.g.reflective markers or IR LED emitters, which are not shown) may bedisposed at any location room 2210 as for detecting position andorientation of wearable shadow casters 2211 a, 2211 b, 2211 c, and 2211d. One or more of cameras 2201, augmented image generator 2290, andwearable shadow casters 2211 a, 2211 b, 2211 c, and 2211 d may beconfigured to determine differences among wearable shadow casters 2211a, 2211 b, 2211 c, and 2211 d, and may be further configured toimplement wearable shadow casters 2211 b, 2211 c, and 2211 in aninvisible wavelength or any other wavelength. Also shown is an augmentedimage generator 2290 that may include logic to combine multiple subsetsof 3D scan data to form a unitary, three-dimensional model of room 2210and its occupants and furniture. Thus, augmented image generator 2290may perform image registration to align multiple 3D images to form anintegrated image or 3D model based on data from wearable shadow casters2211 a to 2211 d. Further, augmented image generator 2290 may generatedata representing graphical imagery that may be overlaid over 3Dsurfaces of objects in room 2210. For example, augmented image generator2290 may generate graphical images of “virtual costumes” that users 2210a, 2210 b, 2210 c, and 2210 d may select for viewing by the others.Consider that user 2210 a wishes users 2210 b, 2210 c, and 2210 d toperceive user 2210 a wearing a “pirate costume.” Augmented imagegenerator 2290 can generate graphical imagery that may be overlaid onlenses in wearable shadow casters 2211 b, 2211 c, and 2211 d. Thus,users 2210 b, 2210 c, and 2210 d may visually perceive user 2210 awearing an overlaid “pirate costume.” Hence, these users may organize avirtual costume party.

Wearable shadow casters 2211 a, 2211 b, 2211 c, and 2211 d, may includeRF radios to generate wireless data links 2213 a, 2213 b, 2213 c, and2213 d, respectively. Further, one or more cameras 2201 and augmentedimage generator 2290 may include logic (e.g., hardware or software, or acombination thereof) and RF radios to transmit and receive data with oneor more wearable shadow casters. In one implementation, wearable shadowcasters 2211 a, 2211 b, 2211 c, and 2211 d, may form a peer-to-peernetwork via links 2213 a, 2213 b, 2213 c, and 2213 d to exchange 3D scandata and graphically imagery to facilitate augmented realityapplications. In another implementation, wearable shadow casters 2211 a,2211 b, 2211 c and 2211 d may implement a client-server network withcamera 2201 and augmented image generator 2290 via wireless data links2214, 2215, 2213 a, 2213 b, 2213 c, and 2213 d, each of which may beadapted to implement other network topologies as well.

FIG. 23 illustrates examples of various computing platforms configuredto provide various functionalities to components to preformthree-dimensional scanning, according to various embodiments. In someexamples, computing platform 2300 may be used to implement computerprograms, applications, methods, processes, algorithms, or othersoftware, as well as any hardware implementation thereof, to perform theabove described techniques.

In some cases, computing platform 2300 or any portion (e.g., anystructural or functional portion) can be disposed in any device, such asa computing device 2390 a, mobile computing device 2390 b, wearabledevice 2390 c, and/or a processing circuit to implement variousstructures and/or functions, according to various examples describedherein.

Computing platform 2300 includes a bus 2302 or other communicationmechanism for communicating information, which interconnects subsystemsand devices, such as processor 2304, system memory 2306 (e.g., RAM,etc.), storage device 2308 (e.g., ROM, etc.), an in-memory cache (whichmay be implemented in RAM 2306 or other portions of computing platform2300), a communication interface 2313 (e.g., an Ethernet or wirelesscontroller, a Bluetooth controller, NFC logic, etc.) to facilitatecommunications via a port on communication link 2321 to communicate, forexample, with a computing device, including mobile computing and/orcommunication devices with processors, including database devices (e.g.,storage devices configured to store atomized datasets, including, butnot limited to triplestores, etc.). Processor 2304 can be implemented asone or more graphics processing units (“GPUs”), as one or more centralprocessing units (“CPUs”), such as those manufactured by Intel®Corporation, or as one or more virtual processors, as well as anycombination of CPUs and virtual processors. Computing platform 2300exchanges data representing inputs and outputs via input-and-outputdevices 2301, including, but not limited to, keyboards, mice, audioinputs (e.g., speech-to-text driven devices), user interfaces, displays,monitors, cursors, touch sensitive displays, LCD or LED displays, andother I/O-related devices.

Note that in some examples, input-and-output devices 2301 may beimplemented as, or otherwise substituted with, a user interface in acomputing device associated with a user account identifier in accordancewith the various examples described herein.

According to some examples, computing platform 2300 performs specificoperations by processor 2304 executing one or more sequences of one ormore instructions stored in system memory 2306, and computing platform2300 can be implemented in a client-server arrangement, peer-to-peerarrangement, or as any mobile computing device, including smart phonesand the like. Such instructions or data may be read into system memory2306 from another computer readable medium, such as storage device 2308.In some examples, hard-wired circuitry may be used in place of or incombination with software instructions for implementation. Instructionsmay be embedded in software or firmware. The term “computer readablemedium” refers to any tangible medium that participates in providinginstructions to processor 2304 for execution. Such a medium may takemany forms, including but not limited to, nonvolatile media and volatilemedia. Non-volatile media includes, for example, optical or magneticdisks and the like. Volatile media includes dynamic memory, such assystem memory 2306.

Known forms of computer readable media include, for example, floppydisk, flexible disk, hard disk, magnetic tape, any other magneticmedium, CD-ROM, any other optical medium, punch cards, paper tape (e.g.,or patterns of holes), any other physical medium, such as RAM, PROM,EPROM, FLASH-EPROM devices, any other memory chip or cartridge, or anyother medium from which a computer can access data. Instructions mayfurther be transmitted or received using a transmission medium. The term“transmission medium” may include any tangible or intangible medium thatis capable of storing, encoding or carrying instructions for executionby the machine, and includes digital or analog communications signals orother intangible medium to facilitate communication of suchinstructions. Transmission media includes coaxial cables, copper wire,and fiber optics, including wires that comprise bus 2302 fortransmitting a computer data signal.

In some examples, execution of the sequences of instructions may beperformed by computing platform 2300. According to some examples,computing platform 2300 can be coupled by communication link 2321 (e.g.,a wired network, such as LAN, PSTN, or any wireless network, includingWiFi of various standards and protocols, Bluetooth®, NFC, Zig-Bee, etc.)to any other processor to perform the sequence of instructions incoordination with (or asynchronous to) one another. Computing platform2300 may transmit and receive messages, data, and instructions,including program code (e.g., application code) through communicationlink 2321 and communication interface 2313. Received program code may beexecuted by processor 2304 as it is received, and/or stored in memory2306 or other non-volatile storage for later execution.

In the example shown, system memory 2306 can include various modulesthat include executable instructions to implement functionalitiesdescribed herein. System memory 2306 may include an operating system(“O/S”) 2332, as well as an application 2336 and/or logic module(s)2359. In the example shown in FIG. 23, system memory 2306 may includeany number of modules 2359, any of which, or one or more portions ofwhich, can be configured to facilitate any one or more components of acomputing system (e.g., a client computing system, a server computingsystem, etc.) by implementing one or more functions described herein.

The structures and/or functions of any of the above-described featurescan be implemented in software, hardware, firmware, circuitry, or acombination thereof. Note that the structures and constituent elementsabove, as well as their functionality, may be aggregated with one ormore other structures or elements. Alternatively, the elements and theirfunctionality may be subdivided into constituent sub-elements, if any.As software, the above-described techniques may be implemented usingvarious types of programming or formatting languages, frameworks,syntax, applications, protocols, objects, or techniques. As hardwareand/or firmware, the above-described techniques may be implemented usingvarious types of programming or integrated circuit design languages,including hardware description languages, such as any register transferlanguage (“RTL”) configured to design field-programmable gate arrays(“FPGAs”), application-specific integrated circuits (“ASICs”), or anyother type of integrated circuit. According to some embodiments, theterm “module” can refer, for example, to an algorithm or a portionthereof, and/or logic implemented in either hardware circuitry orsoftware, or a combination thereof. These can be varied and are notlimited to the examples or descriptions provided.

In some embodiments, modules 2359 of FIG. 23, or one or more of theircomponents, or any process or device described herein, can be incommunication (e.g., wired or wirelessly) with a mobile device, such asa mobile phone, a wearable device, or a computing device, or can bedisposed therein.

In some cases, a mobile device, or any networked computing device (notshown) in communication with one or more modules 2359 or one or more ofits/their components (or any process or device described herein), canprovide at least some of the structures and/or functions of any of thefeatures described herein. As depicted in the above-described figures,the structures and/or functions of any of the above-described featurescan be implemented in software, hardware, firmware, circuitry, or anycombination thereof. Note that the structures and constituent elementsabove, as well as their functionality, may be aggregated or combinedwith one or more other structures or elements. Alternatively, theelements and their functionality may be subdivided into constituentsub-elements, if any. As software, at least some of the above-describedtechniques may be implemented using various types of programming orformatting languages, frameworks, syntax, applications, protocols,objects, or techniques. For example, at least one of the elementsdepicted in any of the figures can represent one or more algorithms. Or,at least one of the elements can represent a portion of logic includinga portion of hardware configured to provide constituent structuresand/or functionalities.

For example, modules 2359 or one or more of its/their components, or anyprocess or device described herein, can be implemented in one or morecomputing devices (i.e., any mobile computing device, such as a wearabledevice, such as a hat or headband, or mobile phone, whether worn orcarried) that include one or more processors configured to execute oneor more algorithms in memory. Thus, at least some of the elements in theabove-described figures can represent one or more algorithms. Or, atleast one of the elements can represent a portion of logic including aportion of hardware configured to provide constituent structures and/orfunctionalities. These can be varied and are not limited to the examplesor descriptions provided.

As hardware and/or firmware, the above-described structures andtechniques can be implemented using various types of programming orintegrated circuit design languages, including hardware descriptionlanguages, such as any register transfer language (“RTL”) configured todesign field-programmable gate arrays (“FPGAs”), application-specificintegrated circuits (“ASICs”), multi-chip modules, or any other type ofintegrated circuit

For example, modules 2359 or one or more of its/their components, or anyprocess or device described herein, can be implemented in one or morecomputing devices that include one or more circuits. Thus, at least oneof the elements in the above described figures can represent one or morecomponents of hardware. Or, at least one of the elements can represent aportion of logic including a portion of a circuit configured to provideconstituent structures and/or functionalities.

According to some embodiments, the term “circuit” can refer, forexample, to any system including a number of components through whichcurrent flows to perform one or more functions, the components includingdiscrete and complex components. Examples of discrete components includetransistors, resistors, capacitors, inductors, diodes, and the like, andexamples of complex components include memory, processors, analogcircuits, digital circuits, and the like, including field-programmablegate arrays (“FPGAs”), application-specific integrated circuits(“ASICs”). Therefore, a circuit can include a system of electroniccomponents and logic components (e.g., logic configured to executeinstructions, such that a group of executable instructions of analgorithm, for example, and, thus, is a component of a circuit).According to some embodiments, the term “module” can refer, for example,to an algorithm or a portion thereof, and/or logic implemented in eitherhardware circuitry or software, or a combination thereof (i.e., a modulecan be implemented as a circuit). In some embodiments, algorithms and/orthe memory in which the algorithms are stored are “components” of acircuit. Thus, the term “circuit” can also refer, for example, to asystem of components, including algorithms. These can be varied and arenot limited to the examples or descriptions provided.

In view of the foregoing, diagrams 200 to 2300 set forth any number ofstructures and functions that may be applied to any number ofapplications. For example, any of the above-described structures andfunctions may be incorporated into a mobile phone having a camera. Thus,a shadow caster and/or light source may be attached to, or integratedwithin a mobile phone to perform 3D scanning. In another example, any ofthe above-described structures and functions may be implemented to storesurface patterns for identification purposes, such as scanning fingerprints three dimensionally as a data for providing secure authorizationor identification. Any number of applications may implement thestructures and functions described herein.

In one example, a method may include receiving photonic emission at ashadow caster, and forming an edge of luminosity. The method may includereceiving the photonic emission as light, and projecting the edge ofluminosity onto a plane of projection. The method may include receivingthe photonic emission at two edge portions of the shadow caster, andforming two portions of at least two portions of edges of luminosity. Atleast two portions of edges of luminosity may be substantially parallelas projected on a plane of projection. The method may include receivingother photonic emission at another shadow caster, and forming anotheredge of luminosity. The other edge of luminosity may be substantiallycoextensive with the edge of luminosity. The method may includegenerating photonic emission at source of light disposed (e.g.,substantially on an axis) adjacent at an end of the shadow caster at adistance (e.g., a greatest distance) from a plane of projection. In someexamples, receiving the photonic emission at the shadow caster mayinclude receiving photonic emission in a first region, and projecting anedge of luminosity onto a plane of projection. The shadow caster may bedisposed between one or more sources of light and a plane of projection.The method may include applying a motive force to move an edge ofluminosity over a plane of projection.

Turning to specific and particular applications of the presentinvention, referring now to the most preferred embodiment of theinvention, in FIG. 24, FIG. 25, FIG. 26, FIG. 27, FIG. 28, FIG. 29, andFIG. 30, a Shadow Caster Scanner 2400 is shown. FIG. 24 demonstrates afront perspective view of a Shadow Caster Scanner 2400. FIG. 25 is arear perspective view of a Shadow Caster Scanner 2400. FIG. 26 is anexploded view of a Shadow Caster Scanner 2400. FIG. 27 is a frontperspective view of a filtered shadow caster 2400 a of the presentinvention. FIG. 28 is a front perspective view of bladed shadow caster2400 b of the present invention. FIG. 29 is a front perspective view ofa wide bladed shadow caster 2400 c of the present invention. FIG. 30depicts an operation flow chart 3000 describing the operation of aShadow Caster Scanner 2400.

In further detail, still referring to the invention of FIG. 24, FIG. 25,FIG. 26, FIG. 27, FIG. 28, FIG. 29, and FIG. 30, a Shadow Caster Scanner2400 comprises an outer housing 2410, said outer housing 2410comprising: a back panel 2418, said back panel 2418 comprising: a cameraopening 2432, a top panel 2412, two side panels 2414, said side panels2414 comprising: a pivot point 2411, and a base 2416; a shadow caster2420, said shadow caster 2420 comprising: a front segment 2424, saidfront segment 2424 being rectangular, two side segments 2422, each saidside segment 2422 depending perpendicularly from opposite ends of saidfront segment 2424, each said side segment 2422 comprising: a triangularshape, and a shoulder mount 2423, each said shoulder mount 2423comprising: a shoulder screw hole 2421, and a shoulder screw 2428, saidshoulder screw 2428 being rotatably attached to said side panel 2414using a nut 2419 and washers 2413, and a tab 2426, said tab 2426depending from one said side segment 2422; an actuator assembly 2440,said actuator assembly 2440 comprising: an actuator arm 2442, saidactuator arm 2442 depending from said outer housing 2410, an actuatormotor 2446, said actuator motor 2446 depending from said actuator arm2442, and an actuator connector 2444, said actuator connector 2444depending from said actuator motor 2446 and connecting to said tab 2426of said shadow caster 2420; a light source 2450, said light source 2450being discrete, continuous, linear, and extending between said shoulderscrews 2428 of said shoulder mounts 2423 of said side segments 2422 ofsaid shadow caster 2420; a video cameras assembly 2430, said videocamera assembly 2430 extending through said camera opening 2432 of saidback panel 2418 of said outer housing 2410, said video camera assembly2430 comprising: a video camera support platform 2436, and a videocamera 2434, said video camera 2434 being mounted on said video camerasupport platform 2436, said video camera 2434 comprising: a camera lens2435, a camera sync port 2433, a video output port 2439, and a controlport 2490; a memory stored in non-transitory computer-readable medium; aprocessor (not shown), said processor comprising: said computer-readablemedium; and a display (not shown); wherein said light source 2450illuminates said shadow caster 2420 to project high contrast shadows ofknown geometry, which form said one or more edges of luminosity on saidobject; wherein said actuator motor 2446 moves said shadow caster 2420in order to sweep said one or more edges of luminosity across saidobject; wherein said video camera 2434 detects said one or more edges ofluminosity for three-dimensional points on said object and records saidthree-dimensional points into said memory; wherein said processor formsa three-dimensional data representation from recorded saidthree-dimensional points; wherein said processor generates saidthree-dimensional model of said object using said three-dimensional datarepresentation; and wherein said three-dimensional model is displayed onsaid display using said processor. Alternately, a filtered shadow caster2420 a, shown in FIG. 27, may be used with Shadow Caster Scanner 2400 inplace of the shadow caster 2420 and comprises a front segment 2424 a,said front segment 2424 a being rectangular, two side segments 2422 a,each said side segment 2422 a depending perpendicularly from oppositeends of said front segment 2424 a, each said side segment 2422 acomprising: a triangular shape, and a shoulder mount 2423 a, each saidshoulder mount 2423 a comprising: a shoulder screw hole 2421 a, and atab 2426 a. The front segment 2424 a and two side segments 2422 afurther comprise a first filter 2423 a, a second filter 2425 a, and athird filter 2427 a, which may filter different colored light or havevarying opacities. Although only three filters are shown in the figure,any number of filters could be used. Alternately, a bladed shadow caster2400 b, shown in FIG. 28, may be used with Shadow Caster Scanner 2400 inplace of the shadow caster 2420 and comprises a front segment 2424 b,said front segment 2424 b being rectangular, two side segments 2422 b,each said side segment 2422 b depending perpendicularly from oppositeends of said front segment 2424 b, each said side segment 2422 bcomprising: a triangular shape, and a shoulder mount 2423 b, each saidshoulder mount 2423 b comprising: a shoulder screw hole 2421 b, and atab 2426 b. The front segment 2424 b and two side segments 2422 bfurther comprise a first segment 2423 b, a second segment 2425 b, and athird segment 2427 b, for producing more edges of luminosity. Althoughonly three segments are shown in the figure, any number of segmentscould be used. Alternately, a wide bladed shadow caster 2400 c, shown inFIG. 29, may be used with Shadow Caster Scanner 2400 in place of theshadow caster 2420 and comprises a front segment 2424 c, two sidesegments 2422 c, each said side segment 2422 c depending perpendicularlyfrom opposite ends of said front segment 2424 c, each said side segment2422 c comprising: a triangular shape, and a shoulder mount 2423 c, eachsaid shoulder mount 2423 c comprising: a shoulder screw hole 2421 c, anda tab 2426 c. The front segment 2424 c and two side segments 2422 cfurther comprise a first wide segment 2423 c, a second wide segment 2425c, and a third wide segment 2427 c, for producing more edges ofluminosity. Although only three segments are shown in the figure, anynumber of segments could be used. In the operation flowchart 3000described in FIG. 30, the first step in the operation of a Shadow CasterScanner 2400 comprises positioning the scanner over the subject, in theposition scanner step 3005. Next, in the alignment decision step 3010,whether the scanner is aligned with the subject is determined. If thescanner is not aligned, the scanner is then aligned with the subject inthe align scanner step 3040. Once the scanner is aligned, whether thecamera is focused on the subject is determined in the focus decisionstep 3015. If the camera is not focused, the camera is then focused inthe focus camera step 3020. Once the camera is focused, the camerastarts recording video of the subject in the start recording step 3025.Next, in the start sweeping step 3045, the shadow caster begins to sweepedges of luminosity across the subject. Next, frames of the recordedvideo are collected and analyzed by the processor to make a point cloudin the collect and analyze step 3050. Next, in the stop sweeping step3060, the shadow caster stops sweeping the edges of luminosity acrossthe subject. Next, the processor filters the point cloud in the filterpoint cloud step 3070. Next, in the construct surface step 3075, theprocessor constructs a model of a three-dimensional surface from thefiltered point cloud. Next, the model is displayed on the display by theprocessor in the display image step 3055. Whether another scan is neededis determined in the another scan decision step 3030. If another scan isneeded, the start recording step 3025 is repeated, as described above.If another scan is not needed, the modeled surfaces are combined andsaved to file in the save file step 3035. Lastly, the scanner is storedafter operation in the store scanner step 3080.

The construction details of the invention as shown in FIG. 24, FIG. 25,FIG. 26, FIG. 27, FIG. 28, FIG. 29, and FIG. 30, are as follows. Theback panel 2418 of the outer housing 2410 comprises a strong rigidmaterial, such as steel, copper cladding, plastic, high density plastic,silicone, PVC, fiber glass, carbon fiber, composite material, metal,galvanized steel, stainless steel, aluminum, brass, copper, wood, orother like material. The top panel 2412 of the outer housing 2410comprises a strong rigid material, such as steel, copper cladding,plastic, high density plastic, silicone, PVC, fiber glass, carbon fiber,composite material, metal, galvanized steel, stainless steel, aluminum,brass, copper, wood, or other like material. The side panels 2414 of theouter housing 2410 comprise a strong rigid material, such as steel,copper cladding, plastic, high density plastic, silicone, PVC, fiberglass, carbon fiber, composite material, metal, galvanized steel,stainless steel, aluminum, brass, copper, wood, or other like material.The base 2416 of the outer housing 2410 comprises a strong rigidmaterial, such as steel, copper cladding, plastic, high density plastic,silicone, PVC, fiber glass, carbon fiber, composite material, metal,galvanized steel, stainless steel, aluminum, brass, copper, wood, orother like material. The shadow caster 2420 comprises a strong rigidmaterial, such as steel, copper cladding, plastic, high density plastic,silicone, PVC, fiberglass, carbon fiber, composite material, metal,galvanized steel, stainless steel, aluminum, brass, copper, wood, orother like material, and may further comprise configurable shapes,three-dimensionally-printed shapes, configurable opacity, such as liquidcrystal, or the like, or various colored filters. The shoulder screws2428 comprise a strong rigid material, such as steel, copper cladding,plastic, high density plastic, silicone, PVC, fiberglass, carbon fiber,composite material, metal, galvanized steel, stainless steel, aluminum,brass, copper, wood, or other like material. The nuts 2419 and washers2413 comprise a strong rigid material, such as steel, copper cladding,plastic, high density plastic, silicone, PVC, fiberglass, carbon fiber,composite material, metal, galvanized steel, stainless steel, aluminum,brass, copper, wood, or other like material. The tab 2426 of the shadowcaster 2420 comprises lightweight rigid material, such as steel, coppercladding, plastic, high density plastic, silicone, PVC, fiberglass,carbon fiber, composite material, metal, galvanized steel, stainlesssteel, aluminum, brass, copper, wood, or other like material. Theactuator arm 2442 of the actuator assembly 2440 comprises a strong rigidmaterial, such as steel, copper cladding, plastic, high density plastic,silicone, PVC, fiberglass, carbon fiber, composite material, metal,galvanized steel, stainless steel, aluminum, brass, copper, wood, orother like material. The actuator motor 2446 of the actuator assembly2440 comprises a linear stepper motor, an electric motor, a hydraulicsystem, or the like. The actuator connector 2444 of the actuatorassembly 2440 comprises a strong rigid material, such as steel, coppercladding, plastic, high density plastic, silicone, PVC, fiberglass,carbon fiber, composite material, metal, galvanized steel, stainlesssteel, aluminum, brass, copper, wood, or other like material. The lightsource 2450 comprises an incandescent light, a halogen light,fluorescent light, a linear light, a slitted tube light, an LED, anarray of LEDs, a linear array of LEDs, different colored light sources,colored LEDs, lasers, an X-ray source, a UV source, an infrared source,or the like. The video camera support platform 2436 comprises a strongrigid material, such as steel, copper cladding, plastic, high densityplastic, silicone, PVC, fiberglass, carbon fiber, composite material,metal, galvanized steel, stainless steel, aluminum, brass, copper, wood,or other like material. The video camera 2434 comprises a digital oranalog video camera, or the like. The camera lens 2435 comprises atelephoto lens, a filtered lens, a magnifying lens, a lens with negativefocal length, or the like. The memory stored in non-transitorycomputer-readable medium comprises software, instructions, data,algorithms, or the like. The processor comprises a computer, a mobilephone, a PC, a CPU, or the like. The display comprises a monitor, ascreen, a television, an augmented reality headset, a microscope, or thelike. The filtered shadow caster 2420 a comprises configurable opacity,such as liquid crystal, or the like, or various colored filters, or thelike, which may filter different colored light or have varyingopacities. The bladed shadow caster 2400 b comprises a strong rigidmaterial, such as steel, copper cladding, plastic, high density plastic,silicone, PVC, fiberglass, carbon fiber, composite material, metal,galvanized steel, stainless steel, aluminum, brass, copper, wood, orother like material, and may further comprise configurable shapes,three-dimensionally-printed shapes, configurable opacity, such as liquidcrystal, or the like, or various colored filters, or the like. The widebladed shadow caster 2400 c comprises a strong rigid material, such assteel, copper cladding, plastic, high density plastic, silicone, PVC,fiberglass, carbon fiber, composite material, metal, galvanized steel,stainless steel, aluminum, brass, copper, wood, or other like material,and may further comprise configurable shapes,three-dimensionally-printed shapes, configurable opacity, such as liquidcrystal, or the like, or various colored filters, or the like.

Referring now to another embodiment of the invention, in FIG. 31, FIG.32, FIG. 33, FIG. 34, FIG. 35, and FIG. 36, a Surgery Shadow CasterScanner 3100 is shown being used during surgery. FIG. 31 is a frontperspective view of a Surgery Shadow Caster Scanner 3100 being usedduring brain surgery on a patient 3170. FIG. 32 illustrates an operationflow chart 3200, which describes the operation of a Surgery ShadowCaster Scanner 3100 being used during brain surgery. FIG. 33 shows aside scanner flow chart 3300 describing the operation of a SurgeryShadow Caster Scanner 3100 being used as a side scanner during brainsurgery. FIG. 34 depicts an algorithm flow chart 3400 describing thealgorithm used by a Surgery Shadow Caster Scanner 3100 being used as aside scanner during brain surgery. FIG. 35 displays a registration flowchart 3500 describing a Surgery Shadow Caster Scanner 3100 being usedfor patient registration. FIG. 36 demonstrates a robotic flow chart3600, which describes the operation of a Surgery Shadow Caster Scanner3100 being used during robotic brain surgery.

In further detail, still referring to the invention of FIG. 31, FIG. 32,FIG. 33, FIG. 34, FIG. 35, and FIG. 36, in FIG. 31, the Surgery ShadowCaster Scanner 3100 is shown casting a shadow 3167 from the shadowcaster 3120 across a craniotomy 3180 of a patient 3170 while the videocamera 3130 is recording a sweep. A head clamp 3165, right-angle clamp3161, and lockable flex arm 3163, fixate the position of the SurgeryShadow Caster Scanner 3100 relative to the area being scanned on thepatient 3170. In FIG. 32, the operation flow chart 3200 describes theoperation of a Surgery Shadow Caster Scanner 3100 being used duringbrain surgery. The first step in the operation of the Surgery ShadowCaster Scanner 3100 comprises draping the scanner with a custom drape,which is well suited for surgery, which conforms to the exterior of theSurgery Shadow Caster Scanner 3100, and which is capable of protectingthe patient 3170 from contamination during surgery, in the drape scannerstep 3203. Next, the Surgery Shadow Caster Scanner 3100 is positionedover the subject, in the position scanner step 3205. Next, in thealignment decision step 3210, whether the scanner is aligned with thesubject, which in this case is a craniotomy 3180 of a patient 3170, isdetermined. If the scanner is not aligned, the scanner is then alignedwith the subject in the align scanner step 3240. Once the scanner isaligned, whether the camera is focused on the subject is determined inthe focus decision step 3215. If the camera is not focused, the camerais then focused in the focus camera step 3220. Once the camera isfocused, the camera starts recording video of the subject in the startrecording step 3225. Next, in the start sweeping step 3245, the shadowcaster begins to sweep edges of luminosity across the subject. Next,frames of the recorded video are collected and analyzed by the processorto make a point cloud in the collect and analyze step 3250. Next, newcloud points are filtered by the processor in the filter new cloudpoints step 3252. Next, the filtered point cloud display is updated inthe update filtered cloud point step 3254. Next, the processor filtersthe whole point cloud in the filter whole point cloud step 3270. Next,in the construct surface step 3275, the processor constructs a model ofa three-dimensional surface from the filtered point cloud. Next, thesurface is sent to the surgical navigation computer in the send surfacestep 3263. The surgical navigation computer comprises a computer thatdetermines where a surgeon's tools are and where the patient is inrelation to a common three-dimensional coordinate system. The surgicalnavigation is used to aid in the surgery. Next, the surface is saved tofile in the save file step 3235. Next, the model is displayed on thedisplay by the processor in the display image step 3255. Whether anotherscan is needed is determined in the another scan decision step 3230. Ifanother scan is needed, the alignment decision step 3210 is repeated, asdescribed above. Next, in the stop sweeping step 3260, the shadow casterstops sweeping the edges of luminosity across the subject. Next, thecamera stops recording video of the subject in the stop recording step3265. Next, the scanner is undraped in the undrape scanner step 3277.Lastly, the scanner is stored after operation in the store scanner step3280. In FIG. 33, the side scanner flow chart 3300 describes theoperation of a Surgery Shadow Caster Scanner 3100 being used as a sidescanner during brain surgery. The first step in the operation of theSurgery Shadow Caster Scanner 3100 as a side scanner comprises drapingthe scanner with a custom drape, which is well suited for surgery, whichconforms to the exterior of the Surgery Shadow Caster Scanner 3100, andwhich is capable of protecting the patient 3170 from contaminationduring surgery, in the drape scanner step 3303. Next, the Surgery ShadowCaster Scanner 3100 is positioned at the side of the subject, in theposition scanner step 3305. Next, in the alignment decision step 3310,whether the scanner is aligned with the subject is determined. If thescanner is not aligned, the scanner is then aligned with the subject inthe align scanner step 3340. Once the scanner is aligned, whether thecamera is focused on the subject is determined in the focus decisionstep 3315. If the camera is not focused, the camera is then focused inthe focus camera step 3320. Once the camera is focused, the camerastarts recording video of the subject in the start recording step 3325.Next, in the start sweeping step 3345, the shadow caster begins to sweepedges of luminosity across the subject. Next, frames of the recordedvideo are collected and analyzed by the processor to make a point cloudin the collect and analyze step 3350. Next, in the stop sweeping step3360, the shadow caster stops sweeping the edges of luminosity acrossthe subject. Next, the camera stops recording video of the subject inthe stop recording step 3365. Next, the processor filters the pointcloud in the filter point cloud step 3370. Next, in the constructsurface step 3375, the processor constructs a model of athree-dimensional surface from the filtered point cloud. Next, thesurface is saved to file in the save file step 3335. Next, the model isdisplayed on the display by the processor in the display image step3355. Whether another scan is needed is determined in the another scandecision step 3330. If another scan is needed, whether the scanner isstill facing the target is determined in the still targeting step 3333.If the scanner is still facing the target, the start recording step 3325is repeated, as described above. If the scanner is no longer facing thetarget, then wait until the scanner is moved back in the move back step3337. Once the scanner is moved back to the target, the start recordingstep 3325 is repeated, as described above. If another scan is notneeded, then the scanner is undraped in the undrape scanner step 3377.Lastly, the scanner is stored after operation in the store scanner step3380. In FIG. 34, the algorithm flow chart 3400 describes the algorithmused by a Surgery Shadow Caster Scanner 3100 being used as a sidescanner during brain surgery. The first step in the algorithm for theSurgery Shadow Caster Scanner 3100 comprises starting the program, inthe start program step 3404. Next, user-provided or program-specifiedscan and analysis parameters are collected in the collect parametersstep 3408. Next, the camera starts recording video in the startrecording step 3425. Next, in the start sweeping step 3445, the motor isstarted in order to move the shadow caster and sweep edges of luminosityacross the subject. Next, frames of the recorded video are collected inthe collect video step 3450. Next, whether the video buffer is filledenough to analyze is determined in the buffer decision step 3424. If thebuffer is not filled enough, the collect video step 3450 is repeated, asdescribed above. If the buffer is filled enough to analyze, the videoframes are analyzed to build a point cloud in the analyze frames step3444. Next, new cloud points are filtered by the processor in the filternew cloud points step 3452. Next, the filtered point cloud display isupdated in the update filtered point cloud step 3454. Next, whetherthere are still enough frames in the buffer is determined in the stillbuffered decision step 3458. If there are not enough frames in thebuffer, the buffer decision step 3424 is repeated, as described above.If there are still enough frames in the buffer, whether to finishsweeping is determined in the finish sweeping decision step 3478. If thesweeping is not finished, then the analyze frames step 3444 is repeated,as described above. If the sweeping is finished, then the motor isstopped in the stop motor step 3468. Next, the camera stops recordingvideo of the subject in the stop recording step 3465. Next, analyzingframes is finished in the finish analyzing frames step 3464. Next, theprocessor filters the point cloud in the filter point cloud step 3470.Next, in the construct surface step 3475, the processor constructs amodel of a three-dimensional surface from the filtered point cloud.Next, the surface is saved to file in the save file step 3435. Next, themodel is displayed on the display by the processor in the display imagestep 3455. Whether another scan is requested is determined in theanother scan decision step 3430. If another scan is requested, whetherthe target or fiducials are still visible in the camera's field of viewis determined in the still visible step 3414. If the target or fiducialsare still visible, the start recording step 3425 is repeated, asdescribed above. If the target or fiducials are not still visible, thenwait until the target or fiducials are visible again in the wait step3412, and, once the target or fiducials are visible again, the startrecording step 3425 is repeated, as described above. Lastly, if anotherscan is not requested, then the user exits the algorithm in the exitalgorithm step 3490. In FIG. 35, the registration flow chart 3500describes a Surgery Shadow Caster Scanner 3100 being used for patientregistration. The first step in registering a patient comprises drapingthe scanner with a custom drape in the drape scanner step 3503. Next,the Surgery Shadow Caster Scanner 3100 is positioned over the subject,in the position scanner step 3505. Next, in the alignment decision step3510, whether the scanner is aligned with the subject is determined. Ifthe scanner is not aligned, the scanner is then aligned with the subjectin the align scanner step 3540. Once the scanner is aligned, whether thecamera is focused on the subject is determined in the focus decisionstep 3515. If the camera is not focused, the camera is then focused inthe focus camera step 3520. Once the camera is focused, the camerastarts recording video of the subject in the start recording step 3525.Next, in the start sweeping step 3545, the shadow caster begins to sweepedges of luminosity across the subject. Next, frames of the recordedvideo are collected and analyzed by the processor to make a point cloudin the collect and analyze step 3550. Next, in the stop sweeping step3560, the shadow caster stops sweeping the edges of luminosity acrossthe subject. Next, the camera stops recording video of the subject inthe stop recording step 3565 Next, the processor filters the point cloudin the filter point cloud step 3570. Next, in the construct surface step3575, the processor constructs a model of a three-dimensional surfacefrom the filtered point cloud. Next, the surface is saved to file in thesave file step 3235. Next, the surface is sent to the navigationcomputer in the send surface step 3563. Next, whether two scans arecollected is determined in the two scans decision step 3531. If twoscans are not collected, then repeat the position scanner step 3505, asdescribed above. If two scans are collected, then identify fiducials onthe first surface in the identify first fiducials step 3581. Next,identify corresponding fiducials on the second surface in the identifysecond fiducials step 3583. Next, calculate a rigid transformation usingthe processor in the calculate step 3585. Next, when the scanner orpatient is moved, map all surface points to their new position usingrigid transformation in the map step 3587. Lastly, continue with theoperation in the continue operation step 3595. In FIG. 36, the roboticflow chart 3600 describes the operation of a Surgery Shadow CasterScanner 3100 being used during robotic brain surgery. The first step inthe robotic operation of the Surgery Shadow Caster Scanner 3100comprises draping the scanner with a custom drape, which is well suitedfor surgery, which conforms to the exterior of the Surgery Shadow CasterScanner 3100, and which is capable of protecting the patient 3170 fromcontamination during surgery, in the drape scanner step 3603. Next, theSurgery Shadow Caster Scanner 3100 is positioned over the subject usingrobotically controlled motors, in the position scanner step 3605. Next,in the alignment decision step 3610, whether the scanner is aligned withthe subject is determined. If the scanner is not aligned, the scanner isthen aligned with the subject in the align scanner step 3640. Once thescanner is aligned, whether the camera is focused on the subject isdetermined in the focus decision step 3615. If the camera is notfocused, the camera is then focused in the focus camera step 3620. Oncethe camera is focused, the camera starts recording video of the subjectin the start recording step 3625. Next, in the start sweeping step 3645,the shadow caster begins to sweep edges of luminosity across thesubject. Next, frames of the recorded video are collected and analyzedby the processor to make a point cloud in the collect and analyze step3650. Next, new cloud points are filtered by the processor in the filternew cloud points step 3652. Next, the filtered point cloud display isupdated in the update filtered cloud point step 3654. Next, whether theentire region of interest has been scanned is determined in the entirescan decision step 3667. If the entire region of interest has not beenscanned, then repeat the collect and analyze step 3650, as describedabove. If the entire region of interest has been scanned, then theprocessor filters the whole point cloud in the filter whole point cloudstep 3670. Next, in the construct surface step 3675, the processorconstructs a model of a three-dimensional surface from the filteredpoint cloud. Next, the surface is sent to the navigation computer in thesend surface step 3663. Next, the surface is saved to file in the savefile step 3635. Next, the model is displayed on the display by theprocessor in the display image step 3655. Whether another scan is neededis determined in the another scan decision step 3630. If another scan isneeded, the alignment decision step 3610 is repeated, as describedabove. If another scan is not needed, the shadow caster stops sweepingthe edges of luminosity across the subject in the stop sweeping step3660. Next, the camera stops recording video of the subject in the stoprecording step 3665. Next, the scanner is undraped in the undrapescanner step 3677. Lastly, the scanner is stored after operation in thestore scanner step 3680.

The construction details of the invention as shown in FIG. 31, FIG. 32,FIG. 33, FIG. 34, FIG. 35, and FIG. 36, are that a Surgery Shadow CasterScanner 3100 comprises a strong rigid material, such as steel, coppercladding, plastic, high density plastic, silicone, PVC, fiberglass,carbon fiber, composite material, metal, galvanized steel, stainlesssteel, aluminum, brass, copper, wood, or other like material. The shadowcaster 3120 comprises a strong rigid material, such as steel, coppercladding, plastic, high density plastic, silicone, PVC, fiberglass,carbon fiber, composite material, metal, galvanized steel, stainlesssteel, aluminum, brass, copper, wood, or other like material, and mayfurther comprise configurable shapes, three-dimensionally-printedshapes, configurable opacity, such as liquid crystal, or the like, orvarious colored filters, or the like. The video camera 3130 comprises adigital or analog video camera, or the like. The head clamp 3165,right-angle clamp 3161, and lockable flex arm 3163 comprise a strongrigid material, such as steel, copper cladding, plastic, high densityplastic, silicone, PVC, fiberglass, carbon fiber, composite material,metal, galvanized steel, stainless steel, aluminum, brass, copper, wood,or other like material.

Referring now to another embodiment of the invention, in FIG. 37, FIG.38, FIG. 39, FIG. 40, FIG. 41, FIG. 42, FIG. 43, and FIG. 44, endoscopeversions of a shadow caster scanner are shown. FIG. 37 is a frontperspective view of an Endoscope Shadow Caster Scanner 3700. FIG. 38 isan exploded view of an Endoscope Shadow Caster Scanner 3700. FIG. 39 isa front perspective view of a Moving Slit Endoscope Shadow CasterScanner 3900. FIG. 40 shows front perspective and exploded views of thedistal ends 4000, 4000 a, and 4000 b, for an Endoscope Shadow CasterScanner 3700 and a Moving Slit Endoscope Shadow Caster Scanner 3900.FIG. 41 depicts a light path block diagram 4100, which describes thelight path of an Endoscope Shadow Caster Scanner 3700 and a Moving SlitEndoscope Shadow Caster Scanner 3900. FIG. 42 illustrates an endoscopeoperation flow chart 4200 describing the operation of an EndoscopeShadow Caster Scanner 3700 and a Moving Slit Endoscope Shadow CasterScanner 3900 during surgery. FIG. 43 depicts an endoscope algorithm flowchart 4300, which describes the algorithm used by an Endoscope ShadowCaster Scanner 3700 and a Moving Slit Endoscope Shadow Caster Scanner3900. FIG. 44 shows an endoscope sweep flow chart 4400, which describesa shadow caster sweep of an Endoscope Shadow Caster Scanner 3700 and aMoving Slit Endoscope Shadow Caster Scanner 3900.

In further detail, still referring to the invention of FIG. 37, FIG. 38,FIG. 39, FIG. 40, FIG. 41, FIG. 42, FIG. 43, and FIG. 44, in FIG. 37,FIG. 38 and FIG. 40, an Endoscope Shadow Caster Scanner 3700 is shownalong with optional distal ends 4001, 4001 a, or 4001 b. An EndoscopeShadow Caster Scanner 3700 comprises an endoscope body 4000, 4000 a, and4000 b, said endoscope body 4000, 4000 a, or 4000 b comprising: aproximal end 3701, a distal end 4001, 4001 a, or 4001 b, an endoscopesleeve 4010, 4010 a, or 4010 b, said endoscope sleeve 4010, 4010 a, or4010 b, spanning between said proximal end 3701 and said distal end4001, 4001 a, or 4001 b, a tapered fiber optic bundle 4060 a and 4060 b,said tapered fiber optic bundle 4060 a and 4060 b being disposed withinsaid endoscope sleeve 4010, 4010 a, or 4010 b and tapered towards saiddistal end 4001, 4001 a, or 4001 b, and an endoscope camera 4030, 4030a, or 4030 b, said endoscope camera 4030, 4030 a, or 4030 b beingdisposed within said endoscope sleeve 4010, 4010 a, or 4010 b and facingout said distal end 4001, 4001 a, or 4001 b; a shadow caster 4020, 4020a, or 4020 b, said shadow caster 4020, 4020 a, or 4020 b being mountedon said distal end 4001, 4001 a, or 4001 b of said endoscope body 4000,4000 a, or 4000 b over said tapered fiber optic bundle 4060 a and 4060b, said shadow caster 4020, 4020 a, or 4020 b comprising: asemi-circular piece; a light launch 3700, said light launch 3700comprising: a horizontal platform 3730, a vertical stand 3705, saidvertical stand distending from said horizontal platform 3730, a steppermotor linear actuator 3740, said stepper motor linear actuator 3740distending from said horizontal platform 3730, a translating platform3715, said translating platform 3715 being connected to said steppermotor linear actuator 3740, a light source 3701, said light source 3701depending from said translating platform 3715, a cylindrical lens 3760,an optic fiber bundle 3710, which may be an image-maintaining opticfiber bundle, said optic fiber bundle 3710 depending from said lightsource 3701, a square-to-round taper 3720, said square-to-round taper3720 depending from said optic fiber bundle 3710, and a slit 3725, saidslit 3725 being mounted on said square-to-round taper 3720; a memorystored in non-transitory computer-readable medium; a processor (notshown), said processor comprising: said computer-readable medium; and adisplay (not shown); wherein said light launch 3700 is connected to saidproximal end 3701 of said endoscope body 4000, 4000 a, and 4000 b;wherein said light source 3701 illuminates said optic fiber bundle 3710,said square-to-round taper 3720, said slit 3725, said tapered fiberoptic bundle 4060 a, and said shadow caster 4020 or 4020 a to projecthigh contrast shadows of known geometry, which form said one or moreedges of luminosity on said object; wherein said stepper motor linearactuator 3740 moves said translating platform 3715 with said lightsource 3701 in order to sweep said one or more edges of luminosityacross said object; wherein said endoscope camera 4030, 4030 a, or 4030b detects said one or more edges of luminosity for three-dimensionalpoints on said object and records said three-dimensional points intosaid memory; wherein said processor forms a three-dimensional datarepresentation from recorded said three-dimensional points; wherein saidprocessor generates said three-dimensional model of said object usingsaid three-dimensional data representation; and wherein saidthree-dimensional model is displayed on said display using saidprocessor. In FIG. 39 and FIG. 40, a Moving Slit Endoscope Shadow CasterScanner 3900 is shown along with optional distal ends 4001, 4001 a, or4001 b. A Moving Slit Endoscope Shadow Caster Scanner 3900 comprises anendoscope body 4000, 4000 a, and 4000 b, said endoscope body 4000, 4000a, or 4000 b comprising: a proximal end 3701 (shown in FIG. 37 and FIG.38), a distal end 4001, 4001 a, or 4001 b, an endoscope sleeve 4010,4010 a, or 4010 b, said endoscope sleeve 4010, 4010 a, or 4010 b,spanning between said proximal end 3701 and said distal end 4001, 4001a, or 4001 b, a tapered fiber optic bundle 4060 a, said tapered fiberoptic bundle 4060 a being disposed within said endoscope sleeve 4010 or4010 a and tapered towards said distal end 4001, 4001 a, or 4001 b, andan endoscope camera 4030, 4030 a, or 4030 b, said endoscope camera 4030,4030 a, or 4030 b being disposed within said endoscope sleeve 4010, 4010a, or 4010 b and facing out said distal end 4001, 4001 a, or 4001 b; ashadow caster 4020, 4020 a, or 4020 b, said shadow caster 4020, 4020 a,or 4020 b being mounted on said distal end 4001, 4001 a, or 4001 b ofsaid endoscope body 4000, 4000 a, or 4000 b over said tapered fiberoptic bundle 4060 a, said shadow caster 4020 or 4020 a comprising: asemi-circular piece; a light launch 3900, said light launch 3900comprising: a horizontal platform 3930, a vertical stand 3905, saidvertical stand 3905 distending from said horizontal platform 3930, astepper motor linear actuator 3940, said stepper motor linear actuator3940 distending from said horizontal platform 3930, a supportingplatform 3915, said supporting platform 3915 depending from saidvertical stand 3905, a light source (not shown), an optic fiber bundle3910, said optic fiber bundle 3910 depending from said light source, asquare-to-round taper 3920, said square-to-round taper 3920 dependingfrom said optic fiber bundle 3910, and a slit 3925, said slit 3925 beingmounted to said stepper motor linear actuator 3940; a memory stored innon-transitory computer-readable medium; a processor (not shown), saidprocessor comprising: said computer-readable medium; and a display (notshown); wherein said light launch 3900 is connected to said lightsource; wherein said light source illuminates said optic fiber bundle3910, said square-to-round taper 3920, said slit 3925, said taperedfiber optic bundle 4060 a, and said shadow caster 4020 or 4020 a toproject high contrast shadows of known geometry, which form said one ormore edges of luminosity on said object; wherein said stepper motorlinear actuator 3940 moves said slit 3925 in order to sweep said one ormore edges of luminosity across said object; wherein said endoscopecamera 4030, 4030 a, or 4030 b detects said one or more edges ofluminosity for three-dimensional points on said object and records saidthree-dimensional points into said memory; wherein said processor formsa three-dimensional data representation from recorded saidthree-dimensional points; wherein said processor generates saidthree-dimensional model of said object using said three-dimensional datarepresentation; and wherein said three-dimensional model is displayed onsaid display using said processor. In FIG. 41 a light path block diagram4100 describes the light path of an Endoscope Shadow Caster Scanner 3700and a Moving Slit Endoscope Shadow Caster Scanner 3900. First, light isemanated from the light source 3701 in the light source step 4110. Next,the light is illuminated through the light launch 3700 and 3900 in thesource injector step 4120 where either the light source 3701 is moved orthe slit 3925 is moved. Next, the light from the light launch 3700 and3900 travels down the tapered fiber optic bundle 4060 a in the fiberstep 4130. Next, the light is projected out the distal end distal end4001, 4001 a, or 4001 b of said endoscope body 4000, 4000 a, or 4000 band across the shadow caster 4020, 4020 a, or 4020 b in the distal endstep 4140. Next, the light and the edges of luminosity are detected bythe endoscope camera 4030, 4030 a, or 4030 b in the camera step 4150.Lastly, images from the endoscope camera 4030, 4030 a, or 4030 b aresent to the processor for processing into a three-dimensional model inthe computer step 4160. In FIG. 42, the endoscope operation flow chart4200 describes the operation of an Endoscope Shadow Caster Scanner 3700and a Moving Slit Endoscope Shadow Caster Scanner 3900 being used duringsurgery. The first step in the operation of the Endoscope Shadow CasterScanner 3700 and the Moving Slit Endoscope Shadow Caster Scanner 3900comprises draping the scanner with a custom drape, which is well suitedfor surgery, which conforms to the exterior of the Endoscope ShadowCaster Scanner 3700 or the Moving Slit Endoscope Shadow Caster Scanner3900, and which is capable of protecting the patient from contaminationduring surgery, in the drape scanner step 4203. Next, the distal end4001, 4001 a, or 4001 b of the Endoscope Shadow Caster Scanner 3700 orthe Moving Slit Endoscope Shadow Caster Scanner 3900 is inserted into anatural or man-made orifice, in the insert scanner step 4205. Next, inthe enable step 4210, the light source 3701 and the endoscope camera4030, 4030 a, or 4030 b are enabled. Next the distal end 4001, 4001 a,or 4001 b of the Endoscope Shadow Caster Scanner 3700 or the Moving SlitEndoscope Shadow Caster Scanner 3900 is navigated to the target in thenavigate step 4240. Next, whether the endoscope camera 4030, 4030 a, or4030 b is focused on the target is determined in the focus decision step4215. If the endoscope camera 4030, 4030 a, or 4030 b is not focused,the endoscope camera 4030, 4030 a, or 4030 b is then focused in thefocus camera step 4220. Once the endoscope camera 4030, 4030 a, or 4030b is focused, the endoscope camera 4030, 4030 a, or 4030 b startsrecording video of the target in the start recording step 4225. Next, inthe start sweeping step 4245, the edges of luminosity begin to sweepacross the subject by either moving the light source 3701 of theEndoscope Shadow Caster Scanner 3700 or the slit 3925 of the Moving SlitEndoscope Shadow Caster Scanner 3900. Next, frames of the recorded videoare collected and analyzed by the processor to make a point cloud in thecollect and analyze step 4250. Next, new cloud points are filtered bythe processor in the filter new cloud points step 4252. Next, thefiltered point cloud display is updated in the update filtered cloudpoint step 4254. Next, whether the entire region of interest has beenscanned is determined in the entire scan decision step 4267. If theentire region of interest has not been scanned, then repeat the collectand analyze step 4250, as described above. If the entire region ofinterest has been scanned, then the processor filters the whole pointcloud in the filter whole point cloud step 4270. Next, in the constructsurface step 3275, the processor constructs a model of athree-dimensional surface from the filtered point cloud. Next, thesurface is sent to the navigation computer in the send surface step4263. Next, the surface is saved to file in the save file step 4235.Next, the model is displayed on the display by the processor in thedisplay image step 4255. Whether another scan is needed is determined inthe another scan decision step 4230. If another scan is needed, thestart sweeping step 4245 is repeated, as described above. If anotherscan is not needed, the edges of luminosity stop sweeping across thesubject in the stop sweeping step 4260. Next, the camera stops recordingvideo of the subject in the stop recording step 4265. Next, the scanneris undraped in the undrape scanner step 4277. Lastly, the scanner isstored after operation in the store scanner step 4280. In FIG. 43, theendoscope algorithm flow chart 4300 describes the algorithm used by anEndoscope Shadow Caster Scanner 3700 and a Moving Slit Endoscope ShadowCaster Scanner 3900. The first step in the algorithm for the EndoscopeShadow Caster Scanner 3700 or the Moving Slit Endoscope Shadow CasterScanner 3900 comprises starting the program, in the start program step4304. Next, user-provided or program-specified scan and analysisparameters are collected in the collect parameters step 4308. Next, theendoscope camera 4030, 4030 a, or 4030 b starts recording video in thestart recording step 4325. Next, in the start sweeping step 4345, thestepper motor linear actuator 3740 or 3940 is started in order to movethe light source 3701 of the Endoscope Shadow Caster Scanner 3700 or theslit 3925 of the Moving Slit Endoscope Shadow Caster Scanner 3900 inorder to sweep edges of luminosity across the target. Next, frames ofthe recorded video are collected in the collect video step 4350. Next,whether the video buffer is filled enough to analyze is determined inthe buffer decision step 4324. If the buffer is not filled enough, thecollect video step 4350 is repeated, as described above. If the bufferis filled enough to analyze, the video frames are analyzed to build apoint cloud in the analyze frames step 4344. Next, whether there arestill enough frames in the buffer is determined in the still buffereddecision step 4358. If there are not enough frames in the buffer, thebuffer decision step 4324 is repeated, as described above. If there arestill enough frames in the buffer, whether to finish sweeping isdetermined in the finish sweeping decision step 4378. If the sweeping isnot finished, then the analyze frames step 4344 is repeated, asdescribed above. If the sweeping is finished, then the stepper motorlinear actuator 3740 or 3940 is stopped in the stop motor step 4368.Next, the endoscope camera 4030, 4030 a, or 4030 b stops recording videoof the subject in the stop recording step 4365. Next, analyzing framesis finished in the finish analyzing frames step 4364. Next, theprocessor filters the point cloud in the filter point cloud step 4370.Next, in the construct surface step 4375, the processor constructs amodel of a three-dimensional surface from the filtered point cloud.Next, the surface is saved to file in the save file step 4335. Next, themodel is displayed on the display by the processor in the display imagestep 4355. Whether another scan is requested is determined in theanother scan decision step 4330. If another scan is requested, the startrecording step 4325 is repeated, as described above. Lastly, if anotherscan is not requested, then the user exits the algorithm in the exitalgorithm step 4390. In FIG. 44, an endoscope sweep flow chart 4400describes a shadow caster sweep of an Endoscope Shadow Caster Scanner3700 and a Moving Slit Endoscope Shadow Caster Scanner 3900. First,stepper motor linear actuator 3740 or 3940 parameters are set in the setmotor parameters step 4407. Next, in the begin sweeping step 4445, thelight source 3701 begins sweeping by either moving the light source 3701of the Endoscope Shadow Caster Scanner 3700 or the slit 3925 of theMoving Slit Endoscope Shadow Caster Scanner 3900. Next, the steppermotor linear actuator 3740 or 3940 position is determined in the getcurrent motor position step 4447. Next, whether the light source reachedthe end of the sweep is determined in the end sweep decision step 4449.If the light source did not reach the end of the sweep, the get currentmotor position step 4447 is repeated, as described above. If the lightsource did reach the end of the sweep and another scan is necessary, theset motor parameters step 4407 is repeated in the reverse direction ofthe first scan in the repeat algorithm step 4494. In order to use saidtapered fiber optic bundle 4060 b, the proximal tapered fiber opticbundle 3720 and 3920 must taper to the same shape, e.g. halfcircle-to-round, as the distal tapered fiber optic bundle 4060 b.

The construction details of the invention as shown in FIG. 37, FIG. 38,FIG. 39, FIG. 40, FIG. 41, FIG. 42, FIG. 43, and FIG. 44, are that anendoscope sleeve 4010, 4010 a, or 4010 b comprises a flexible material,such as plastic, silicone, metal, or the like. The tapered fiber opticbundle 4060 a and 4060 b comprises optic fibers, glass, plastic,composite material, or the like. The endoscope camera 4030, 4030 a, or4030 b comprises a standard endoscope camera, or the like. The shadowcaster 4020, 4020 a, or 4020 b comprises a strong rigid material, suchas steel, copper cladding, plastic, high density plastic, silicone, PVC,fiberglass, carbon fiber, composite material, metal, galvanized steel,stainless steel, aluminum, brass, copper, wood, or other like material,and may further comprise configurable shapes,three-dimensionally-printed shapes, configurable opacity, such as liquidcrystal, or the like, or various colored filters, or the like. Thehorizontal platform 3730 and 3930 comprises a strong rigid material,such as steel, copper cladding, plastic, high density plastic, silicone,PVC, fiberglass, carbon fiber, composite material, metal, galvanizedsteel, stainless steel, aluminum, brass, copper, wood, or other likematerial. The vertical stand 3705 and 3905 comprises a strong rigidmaterial, such as steel, copper cladding, plastic, high density plastic,silicone, PVC, fiberglass, carbon fiber, composite material, metal,galvanized steel, stainless steel, aluminum, brass, copper, wood, orother like material. The stepper motor linear actuator 3740 and 3940comprises a linear stepper motor, an electric motor, a hydraulic system,or the like. The translating platform 3715 comprises a strong rigidmaterial, such as steel, copper cladding, plastic, high density plastic,silicone, PVC, fiberglass, carbon fiber, composite material, metal,galvanized steel, stainless steel, aluminum, brass, copper, wood, orother like material. The light source 3701 comprises an incandescentlight, a halogen light, fluorescent light, a linear light, a slittedtube light, an LED, an array of LEDs, a linear array of LEDs, differentcolored light sources, colored LEDs, lasers, an X-ray source, a UVsource, an infrared source, or the like. The cylindrical lens 3760comprises an optical material, such as glass, acrylic, ceramic, or thelike. The optic fiber bundle 3710 and 3910 comprises an opticalmaterial, such as glass, acrylic, ceramic, or the like. Thesquare-to-round taper 3720 and 3920 comprises glass, plastic, or thelike. The slit 3725 comprises an opaque material such as steel, coppercladding, plastic, high density plastic, opaque paint, silicone, PVC,fiberglass, carbon fiber, composite material, metal, galvanized steel,stainless steel, aluminum, brass, copper, wood, or other like material.The memory stored in non-transitory computer-readable medium comprisessoftware, instructions, data, algorithms, or the like. The processorcomprises a computer, a mobile phone, a PC, a CPU, or the like. Thedisplay comprises a monitor, a screen, a television, an augmentedreality headset, a microscope, or the like. The supporting platform 3915comprises a strong rigid material, such as steel, copper cladding,plastic, high density plastic, silicone, PVC, fiberglass, carbon fiber,composite material, metal, galvanized steel, stainless steel, aluminum,brass, copper, wood, or other like material. The slit 3925 comprises anopaque material such as steel, copper cladding, plastic, high densityplastic, opaque paint, silicone, PVC, fiberglass, carbon fiber,composite material, metal, galvanized steel, stainless steel, aluminum,brass, copper, wood, or other like material.

Referring now to another embodiment of the invention, in FIG. 45 andFIG. 46, a Whole Person Shadow Scanner 4500 is shown. FIG. 45 is a frontperspective view of an Whole Person Shadow Scanner 4500 scanning a wholeperson 4570. FIG. 46 shows an whole person operation flow chart 4600describing the operation of a Whole Person Shadow Scanner 4500.

In further detail, still referring to the invention of FIG. 45 and FIG.46, the Whole Person Shadow Scanner 4500 is similar in construction tothe Shadow Caster Scanner 2400; however, it is scaled and adapted to beable to scan the surface of a whole person 4570, and may be mountedabove the whole person 4570, such as on the ceiling of a room. The WholePerson Shadow Scanner 4500 uses a whole person shadow caster 4520 toproject edges of luminosity on a whole person 4570 and record the edgesof luminosity using a whole person camera 4530. The Whole Person ShadowScanner 4500 is used for scanning skin or performing dermatologicalexams and is capable of mapping features on the skin of the whole person4570, such as moles, freckles, skin lesions, skin cancer, warts,growths, defects, wounds, or the like. Optionally, a person may beplaced very close to the Whole Person Shadow Scanner 4500 and/or asmaller embodiment of a like scanner, for higher resolution scans over asmaller region of interest, in order to concentrate on thethree-dimensional shape of a single mole, for example. Scans performedat different times may also provide a record of changes in the wholeperson's 4570 skin, for example, a record of new moles or changingfeatures may be established. Further, use with colored filters mayidentify different tissues during the scan, such as identifying tumorsor cancerous regions. In FIG. 46, the whole person operation flow chart4600 describes the operation of a Whole Person Shadow Scanner 4500 beingused. The first step in the operation of the Whole Person Shadow Scanner4500 comprises positioned the Whole Person Shadow Scanner 4500 over thewhole person 4570, or positioning the whole person 4570 under the WholePerson Shadow Scanner 4500, in the position scanner step 4605. Next, inthe alignment decision step 4610, whether the Whole Person ShadowScanner 4500 is aligned with the subject, which in this case is a wholeperson 4570, is determined. If the scanner is not aligned, the scanneris then aligned with the subject in the align scanner step 4640. Oncethe scanner is aligned, whether the camera is focused on the subject isdetermined in the focus decision step 4615. If the camera is notfocused, the camera is then focused in the focus camera step 4620. Oncethe camera is focused, the camera starts recording video of the subjectin the start recording step 4625. Next, in the start sweeping step 4645,the shadow caster begins to sweep edges of luminosity across thesubject. Next, frames of the recorded video are collected and analyzedby the processor to make a point cloud in the collect and analyze step4650. Next, in the stop sweeping step 4660, the shadow caster 4520 stopssweeping the edges of luminosity across the subject. Next, the camerastops recording video of the subject in the stop recording step 4665.Next, the processor filters the point cloud in the filter point cloudstep 4670. Next, in the construct surface step 4675, the processorconstructs a model of a three-dimensional surface from the filteredpoint cloud. Next, the model is displayed on the display by theprocessor in the display image step 4655. Whether another scan is neededis determined in the another scan decision step 4630. If another scan isneeded, the start sweeping step 4645 is repeated, as described above. Ifanother scan is not needed, the surfaces are combined and saved to filein the save file step 4635. Lastly, the Whole Person Shadow Scanner 4500is stored after operation in the store scanner step 4680.

The construction details of the invention as shown in FIG. 45 and FIG.46 are substantially the same as those of the invention as shown in FIG.37, FIG. 38, FIG. 39, FIG. 40, FIG. 41, FIG. 42, FIG. 43, and FIG. 44.

Referring now to another embodiment of the invention, in FIG. 47 andFIG. 48, a Security Shadow Scanner 4700 is shown. FIG. 47 is a frontperspective view of a Security Shadow Scanner 4700 scanning a walkingperson 4770. FIG. 46 depicts an security scanner operation flow chart4800 describing the operation of a Security Shadow Scanner 4700.

In further detail, still referring to the invention of FIG. 47 and FIG.48, the Security Shadow Scanner 4700 is similar in construction to theShadow Caster Scanner 2400; however, it may use the motion of thewalking person 4770 to sweep the edges of luminosity and may furthercomprises one or more additional cameras 4737, which may be mounted on awall 4772, in order to measure the velocity of the walking person 4770.The Security Shadow Scanner 4700 is scaled and adapted to be able toscan the surface of a walking person 4770, and may be mounted above thewalking person 4770, such as on the ceiling 4776 of a room 4710. Otherversions may mount the light source in the ceiling of a room. TheSecurity Shadow Scanner 4700 uses a stationary shadow caster 4720 toproject edges of luminosity on a walking person 4770 and record theedges of luminosity using a security camera 4730 and, optionally, anadditional camera 4737. The additional camera 4737 (and, in fact, bothsecurity camera 4730 and additional camera 4737) can detect not onlyedges of luminosity, but the object itself to help determine thevelocity of the object. The Security Shadow Scanner 4700 is used forscanning persons for security risks and may be placed at the entry to abuilding or at the entry port to a secured area. Further, use withcolored filters may identify different features during the scan, such asidentifying weapons or contraband. In FIG. 48, the security scanneroperation flow chart 4800 describes the operation of a Security ShadowScanner 4700 being used. The first step in the operation of the SecurityShadow Scanner 4700 comprises activating the Security Shadow Scanner4700 in the activate scanner step 4801. Next, whether the securitycamera 4730 and, optionally, the additional camera 4737, are focused onthe subject is determined in the focus decision step 4815. If thesecurity camera 4730 and, optionally, the additional camera 4737, arenot focused, the security camera 4730 and, optionally, the additionalcamera 4737, are then focused in the focus camera step 4820. Once thesecurity camera 4730 and, optionally, the additional camera 4737, arefocused, the security camera 4730 and, optionally, the additional camera4737, start recording video of the subject as the walking person 4770walking across the views of the security camera 4730 and, optionally,the additional camera 4737, in the start recording step 4825. Next,frames of the recorded video are collected by the processor in thecollect frames step 4850. Next, the speed of the subject, in this case awalking person 4770, is calculated by the processor in the calculatespeed step 4851. Next, frames from the security camera 4730 are analyzedusing the processor to make a point cloud in the analyze frames step4844. Next, whether the entire region of interest has been scanned isdetermined in the entire scan decision step 4867. If the entire regionof interest has not been scanned, then repeat the collect frames step4850, as described above. If the entire region of interest has beenscanned, then the processor filters the point cloud in the filter pointcloud step 4870. Next, in the construct surface step 4875, the processorconstructs a model of a three-dimensional surface from the filteredpoint cloud. Next, the surface is saved to file in the save file step4835. Next, the surface is sent to the processor for display in the sendsurface step 4871. Whether another scan is needed is determined in theanother scan decision step 4830. If another scan is needed, the collectframes step 4850 is repeated, as described above. Lastly, if anotherscan is not needed, the scanner is deactivated in the deactivate scannerstep 4881.

The construction details of the invention as shown FIG. 47 and FIG. 48are substantially the same as those of the invention as shown in FIG.37, FIG. 38, FIG. 39, FIG. 40, FIG. 41, FIG. 42, FIG. 43, and FIG. 44.

Referring now to another embodiment of the invention, in FIG. 49, FIG.50, FIG. 51, FIG. 52, and FIG. 53, a Vision Shadow Scanner 4900 isshown. FIG. 49 shows a front perspective view of a Vision Shadow Scanner4900 incorporated into a vehicle, which is an automobile 4901. FIG. 50is a close-up view of the indicated area 4911 of FIG. 49. FIG. 51displays a vision scanner operation flow chart 5100, which describes theoperation of a Vision Shadow Scanner 4900 that is incorporated into avehicle. FIG. 52 illustrates a robot vision scanner operation flow chart5200, which describes the operation of a Vision Shadow Scanner 4900 thatis incorporated into a robot. FIG. 53 is a submersible vision scanneroperation flow chart 5300, which describes the operation of a VisionShadow Scanner 4900 that is incorporated into a submersible.

In further detail, still referring to the invention of FIG. 49, FIG. 50,FIG. 51, FIG. 52, and FIG. 53, in FIG. 49 and FIG. 50, a Vision ShadowScanner 4900 uses the motion of a moving vehicle to sweep edges ofluminosity across the surrounding of the vehicle in order to generatethree-dimensional models of the surroundings and comprises shadowcasters 4920, which comprise an apex 4999, mounted over a light source4950, which depends from said apex 4999, over the headlights 4998 of anautomobile 4901 or placed inside of an automobile 4901 with the lightsource 4950 consistent with those described in FIG. 14, a camera 4930mounted on the roof 4903 of the automobile 4901, and a processor (notshown). In FIG. 51, the vision scanner operation flow chart 5100describes the operation of a Vision Shadow Scanner 4900 that isincorporated into a vehicle. The first step in the operation of theVision Shadow Scanner 4900 comprises activating the Vision ShadowScanner 4900 in the activate scanner step 5101. Next, in the alignmentdecision step 5110, whether the Vision Shadow Scanner 4900 is aligned isdetermined. If the Vision Shadow Scanner 4900 is not aligned, the VisionShadow Scanner 4900 is then aligned using motors in the align scannerstep 5140. Once the Vision Shadow Scanner 4900 is aligned, whether thecamera 4930 is focused is determined in the focus decision step 5115. Ifthe camera 4930 is not focused, then the camera 4930 is focused usingmotors in the focus camera step 5120. Once the camera 4930 is focused,the camera 4930 starts recording video of the surroundings of thevehicle, in the start recording step 5125. Next, frames of the recordedvideo are collected by the processor in the collect frames step 5150.Next, the speed of the vehicle is determined by the processor in thedetermine speed step 5151. Next, frames from the camera 4930 areanalyzed using the processor to make a point cloud in the analyze framesstep 5144. Next, whether the entire region of interest has been scannedis determined in the entire scan decision step 5167. If the entireregion of interest has not been scanned, then repeat the collect framesstep 5150, as described above. If the entire region of interest has beenscanned, then the processor filters the entire point cloud in the filterpoint cloud step 5170. Next, in the construct surface step 5175, theprocessor constructs a three-dimensional model of the surrounding of thevehicle from the filtered point cloud. Next, the surface is sent to theprocessor in the send surface step 5171. Next, whether another scan isneeded is determined in the another scan decision step 5130. If anotherscan is needed, the alignment decision step 5110 is repeated, asdescribed above. Next, if another scan is not needed, the camera 4930stops recording video of the surroundings of the vehicle in the stoprecording step 5165. Lastly, the scanner is deactivated in thedeactivate scanner step 5181. In FIG. 52, the robot vision scanneroperation flow chart 5200 describes the operation of a shadow casterscanner that is incorporated into a robot, which differs from the VisionShadow Scanner 4900 by actively scanning the surroundings of the robotinstead of relying on the speed of the vehicle to sweep the edges ofluminosity across the surroundings. The first step in the operation ofthe scanner, which is incorporated into a robot, comprises activatingthe scanner in the activate scanner step 5201. Next, in the alignmentdecision step 5210, whether the scanner is aligned is determined. If thescanner is not aligned, the scanner is then aligned usingrobotically-controlled motors in the align scanner step 5240. Once thescanner is aligned, whether the camera is focused is determined in thefocus decision step 5215. If the camera is not focused, then the camerais focused using robotically-controlled motors in the focus camera step5220. Once the camera is focused, the camera starts recording video ofthe surroundings of the robot, in the start recording step 5225. Next,in the start sweeping step 5245, the shadow caster begins to sweep edgesof luminosity across the surroundings of the robot. Next, frames of therecorded video are collected and analyzed by the processor to make apoint cloud in the collect and analyze frames step 5250. Next, whetherthe entire region of interest has been scanned is determined in theentire scan decision step 5267. If the entire region of interest has notbeen scanned, then repeat the collect and analyze frames step 5250, asdescribed above. If the entire region of interest has been scanned, thenthe processor filters the point cloud in the filter point cloud step5270. Next, in the construct surface step 5275, the processor constructsa three-dimensional model of the surrounding of the robot from thefiltered point cloud. Next, the surface is sent to the robot's processorin the send surface step 5271. Next, whether another scan is needed isdetermined in the another scan decision step 5230. If another scan isneeded, the alignment decision step 5210 is repeated, as describedabove. Next, if another scan is not needed, the shadow caster stopssweeping the edges of luminosity across the surroundings of the robot inthe stop sweeping step 5260. Next, the camera stops recording video ofthe surroundings of the robot in the stop recording step 5265. Lastly,the scanner is deactivated in the deactivate scanner step 5281. In FIG.53, the submersible vision scanner operation flow chart 5300 describesthe operation of a shadow caster scanner that is incorporated into anunderwater submersible. The first step in the operation of the scanner,which is incorporated into a submersible, comprises activating thescanner in the activate scanner step 5301. Next, whether the camera isfocused is determined in the focus decision step 5315. If the camera isnot focused, then the camera is focused in the focus camera step 5320.Once the camera is focused, the camera starts recording video of thesurroundings of the submersible, in the start recording step 5325. Next,in the start sweeping step 5345, the light or moving submersible beginsto sweep edges of luminosity across the surroundings of the submersible.Next, frames of the recorded video are collected and analyzed by theprocessor to make a point cloud in the collect and analyze frames step5350. Next, the light stops sweeping, or the submersible stops moving,so that the edges of luminosity stop sweeping across the surroundings ofthe submersible in the stop sweeping step 5360. Next, the processorfilters the point cloud in the filter point cloud step 5370. Next, inthe construct surface step 5375, the processor constructs athree-dimensional model of the surrounding of the submersible from thefiltered point cloud. Next, the surface is saved to file in the savesurface step 5335. Next, the surface is displayed on the display by theprocessor in the display image step 5355. Next, whether another scan isneeded is determined in the another scan decision step 5330. If anotherscan is needed, the start recording step 5325 is repeated, as describedabove. Lastly, if another scan is not needed, the scanner is deactivatedin the deactivate scanner step 5381.

The construction details of the invention as shown FIG. 49, FIG. 50,FIG. 51, FIG. 52, and FIG. 53, are that the shadow casters 4920comprises a strong rigid material, such as steel, copper cladding,plastic, high density plastic, silicone, PVC, fiberglass, carbon fiber,composite material, metal, galvanized steel, stainless steel, aluminum,brass, copper, wood, or other like material, and may further compriseconfigurable shapes, three-dimensionally-printed shapes, configurableopacity, such as liquid crystal, or the like, or various coloredfilters, or the like. The headlights 4998 comprise standard headlightsor custom headlights, or the like. The light sources 4950 comprise alinear light or point source, or the like. The automobile 4901 comprisesa standard automobile, an autonomous automobile, a remote controlledautomobile, a robot, a submersible, or the like. The camera 4930comprises a digital or analog video camera, or the like.

Referring now to another embodiment of the invention, in FIG. 54, FIG.55, FIG. 56, FIG. 57, FIG. 58, and FIG. 59, systems of the presentinvention, which use drones to scan large areas with shadow casters, areshown. FIG. 54 demonstrates a front perspective view of a Sun DroneShadow Caster Scanner System 5400, which uses drones and the light ofthe sun to scan a house 5470. FIG. 55 is a sun drone operation flowchart 5500, which describes the operation of a Sun Drone Shadow CasterScanner System 5400. FIG. 56 is a front perspective view of a DroneShadow Caster Scanner System 5600, which uses drones with light sourcesto scan an area. FIG. 57 shows is a drone operation flow chart 5700,which describes the operation of a Drone Shadow Caster Scanner System5600. FIG. 58 depicts a drone algorithm flow chart 5800, which describesthe algorithm used by the Sun Drone Shadow Caster Scanner System 5400and the Drone Shadow Caster Scanner System 5600. FIG. 59 is a dronesweep flow chart 5900, which describes a shadow caster sweep used by theSun Drone Shadow Caster Scanner System 5400 and the Drone Shadow CasterScanner System 5600.

In further detail, still referring to the invention of FIG. 54, FIG. 55,FIG. 56, FIG. 57, FIG. 58, and FIG. 59, in FIG. 54 and FIG. 55 a SunDrone Shadow Caster Scanner System 5400 comprises a plurality of shadowdrones 5420, each said shadow drones 5420 comprising: a drone, saiddrone comprising: a remote controlled flying vehicle, and a shadowcaster 5424, said shadow caster 5424 comprising: a panel, said paneldepending from said drone; a plurality of camera drones 5430, each saidcamera drones comprising: said drone, and a video camera, said videocamera depending from said drone; a memory stored in non-transitorycomputer-readable medium; a processor (not shown), said processor beingable to control said shadow drones 5420 and said camera drones 5430,said processor comprising: said computer-readable medium; and a display(not shown); wherein said plurality of shadow drones 5420 are aligned ina flight formation so that said shadow casters 5424 form a substantiallycontinuous collective shadow caster, said collective shadow castercomprising aligned said shadow casters 5424; wherein the sun illuminatessaid collective shadow caster to project high contrast shadows 5467 ofknown geometry, which form said one or more edges of luminosity on ahouse 5470 and its surroundings; wherein aligned said plurality ofshadow drones 5420 in said flight formation move in formation acrosssaid area in order to sweep said one or more edges of luminosity acrosssaid house 5470 and its surroundings; wherein said video cameras of saidcamera drones 5430 detect said one or more edges of luminosity forthree-dimensional points on said house 5470 and its surroundings andrecords said three-dimensional points into said memory; wherein saidprocessor forms a three-dimensional data representation from recordedsaid three-dimensional points; wherein said processor generates saidthree-dimensional model of said house 5470 and its surroundings usingsaid three-dimensional data representation; and wherein saidthree-dimensional model is displayed on said display using saidprocessor. In FIG. 55, the sun drone operation flow chart 5500 describesthe operation of a Sun Drone Shadow Caster Scanner System 5400. Thefirst step in the operation of the Sun Drone Shadow Caster ScannerSystem 5400 comprises attaching the shadow casters 5424 to the shadowdrones 5420 in the attach shadow casters step 5502. Next, in the arrangeshadow caster step 5511, the shadow drones 5420 are arranged to form anearly contiguous shadow caster in midair. Next, the camera drones 5430are positioned in midair over the shadow drones 5420, in the positioncamera drones step 5505. Next, in the alignment decision step 5510,whether the shadow drones 5420 are aligned with the camera drones 5430is determined. If the shadow drones 5420 are not aligned with the cameradrones 5430, the drones are aligned in the align drones step 5540. Oncethe shadow drones 5420 are aligned with the camera drones 5430, whetherthe camera drones 5430 are focused on the subject is determined in thefocus decision step 5515. If the camera drones 5430 are not focused, thecamera drones 5430 are then focused in the focus camera step 5520. Oncethe camera drones 5430 are focused, the camera drones 5430 startrecording video of the subject in the start recording step 5525. Next,in the start sweeping step 5545, the shadow drones 5420 begin to sweepedges of luminosity across the subject by flying in unison across andabove the subject using the sun as a light source. Next, frames of therecorded video are collected and analyzed by the processor to make apoint cloud in the collect and analyze step 5550. Next, new cloud pointsare filtered by the processor in the filter new cloud points step 5574.Next, the filtered point cloud display is updated in the update filteredcloud point step 5554. Next, whether the entire object has been scannedis determined in the entire scan decision step 5567. If the entireobject has not been scanned, then repeat the collect and analyze step5550, as described above. If the entire object has been scanned, thenthe processor filters the whole point cloud in the filter whole pointcloud step 5570. Next, in the construct surface step 5575, the processorconstructs a model of a three-dimensional surface from the filteredpoint cloud. Next, the surface is saved to file in the save file step5535. Next, the model is displayed on the display by the processor inthe display image step 5555. Whether another scan is needed isdetermined in the another scan decision step 5530. If another scan isneeded, the arrange shadow caster step 5511 is repeated, as describedabove. If another scan is not needed, the shadow drones 5420 stopsweeping the edges of luminosity across the subject, in the stopsweeping step 5560. Lastly, the drones are stored after operation in thestore scanner step 5580. In FIG. 56 and FIG. 57, a Drone Shadow CasterScanner System 5600 comprises a plurality of shadow drones 5620, eachsaid shadow drones 5620 comprising: a drone, said drone comprising: aremote controlled flying vehicle, and a shadow caster 5624, said shadowcaster 5624 comprising: a panel, said panel depending from said drone; aplurality of light drones 5650, each said light drones 5650 comprising:said drone, and a light source, said light source depending from saiddrone; a plurality of camera drones 5630, each said camera drones 5630comprising: said drone, and a video camera, said video camera dependingfrom said drone; a memory stored in non-transitory computer-readablemedium; a processor (not shown), said processor being able to controlsaid shadow drones 5620, said light drones 5650, and said camera drones5630, said processor comprising: said computer-readable medium; and adisplay (not shown); wherein said plurality of shadow drones 5640 arealigned in a flight formation so that said shadow casters 5624 form asubstantially continuous collective shadow caster, said collectiveshadow caster comprising aligned said shadow casters 5624; wherein saidlight drones 5650 illuminate said collective shadow caster to projecthigh contrast shadows 5667 of known geometry, which form said one ormore edges of luminosity on the house 5670 and its surroundings; whereinaligned said plurality of shadow drones 5620 in said flight formationmove in formation across said house 5670 and its surroundings in orderto sweep said one or more edges of luminosity across said house 5670 andits surroundings; wherein said video cameras of said camera drones 5630detect said one or more edges of luminosity for three-dimensional pointson said house 5670 and its surroundings and records saidthree-dimensional points into said memory; wherein said processor formsa three-dimensional data representation from recorded saidthree-dimensional points; wherein said processor generates saidthree-dimensional model of said house 5670 and its surroundings usingsaid three-dimensional data representation; and wherein saidthree-dimensional model is displayed on said display using saidprocessor. In FIG. 57, the drone operation flow chart 5700 describes theoperation of a Drone Shadow Caster Scanner System 5600. The first stepin the operation of the Drone Shadow Caster Scanner System 5600comprises attaching the shadow casters 5624 to the shadow drones 5620 inthe attach shadow casters step 5702. Next, lights are attached to thelight drones 5650 in the attach light step 5708. Next, the light drones5650 are positioned in midair in the position light drones step 5718.Next, in the arrange shadow caster step 5711, the shadow drones 5620 arearranged to form a nearly contiguous shadow caster in midair. Next, thecamera drones 5630 are positioned in midair over the shadow drones 5620,in the position camera drones step 5705. Next, in the alignment decisionstep 5710, whether the shadow drones 5420 and light drones 5650 arealigned with the camera drones 5630 is determined. If the shadow drones5620 and light drones 5650 are not aligned with the camera drones 5630,the drones are aligned in the align drones step 5740. Once the shadowdrones 5620 and light drones 5650 are aligned with the camera drones5630, whether the camera drones 5630 are focused on the subject isdetermined in the focus decision step 5715. If the camera drones 5630are not focused, the camera drones 5630 are then focused in the focuscamera step 5720. Once the camera drones 5630 are focused, the cameradrones 5630 start recording video of the subject in the start recordingstep 5725. Next, in the start sweeping step 5745, the shadow drones 5620begin to sweep edges of luminosity across the subject by flying inunison across and above the subject using the light drones 5650 as alight source. Next, frames of the recorded video are collected andanalyzed by the processor to make a point cloud in the collect andanalyze step 5750. Next, new cloud points are filtered by the processorin the filter new cloud points step 5774. Next, the filtered point clouddisplay is updated in the update filtered cloud point step 5754. Next,whether the entire object has been scanned is determined in the entirescan decision step 5767. If the entire object has not been scanned, thenrepeat the collect and analyze step 5750, as described above. If theentire object has been scanned, then the processor filters the wholepoint cloud in the filter whole point cloud step 5770. Next, in theconstruct surface step 5775, the processor constructs a model of athree-dimensional surface from the filtered point cloud. Next, thesurface is saved to file in the save file step 5735. Next, the model isdisplayed on the display by the processor in the display image step5755. Whether another scan is needed is determined in the another scandecision step 5730. If another scan is needed, the position light dronesstep 5718 is repeated, as described above. If another scan is notneeded, the shadow drones 5620 stop sweeping the edges of luminosityacross the subject, in the stop sweeping step 5760. Lastly, the dronesare stored after operation in the store scanner step 5780. In FIG. 58,the drone algorithm flow chart 5800 describes the algorithm used by theSun Drone Shadow Caster Scanner System 5400 and the Drone Shadow CasterScanner System 5600. The first step in the algorithm for the Sun DroneShadow Caster Scanner System 5400 and the Drone Shadow Caster ScannerSystem 5600 comprises starting the program, in the start program step5804. Next, user-provided or program-specified scan and analysisparameters are collected in the collect parameters step 5808. Next,ensure the drones are coordinated in the ensure coordination step 5811.Next, the camera drones 5430 or 5630 start recording video in the startrecording step 5825. Next, in the start sweeping step 5845, the shadowdrones 5420 or 5620 begin to sweep edges of luminosity across thesubject by flying in unison across and above the subject. Next, framesof the recorded video are collected in the collect video step 5850.Next, whether the video buffer is filled enough to analyze is determinedin the buffer decision step 5824. If the buffer is not filled enough,the collect video step 5850 is repeated, as described above. If thebuffer is filled enough to analyze, the video frames are analyzed tobuild a point cloud in the analyze frames step 5844. Next, whether thereare still enough frames in the buffer is determined in the stillbuffered decision step 5858. If there are not enough frames in thebuffer, the buffer decision step 5824 is repeated, as described above.If there are still enough frames in the buffer, whether the drones arestill aligned is determined in the drone alignment decision step 5810.If the drones are not aligned, then the drones are aligned in the aligndrones step 5840. Once the drones are aligned, whether to finishsweeping is determined in the finish sweeping decision step 5878. If thesweeping is not finished, then the analyze frames step 5844 is repeated,as described above. If the sweeping is finished, then the shadow drones5420 or 5620 stop sweeping in the stop sweeping step 5860. Next, thecamera drones 5430 or 5630 stop recording video of the subject in thestop recording step 5865. Next, analyzing frames is finished in thefinish analyzing frames step 5864. Next, the processor filters the pointcloud in the filter point cloud step 5870. Next, in the constructsurface step 5875, the processor constructs a model of athree-dimensional surface from the filtered point cloud. Next, thesurface is saved to file in the save file step 5835. Next, the model isdisplayed on the display by the processor in the display image step5855. Whether another scan is requested is determined in the anotherscan decision step 5830. If another scan is requested, the ensurecoordination step 5811 is repeated, as described above. Lastly, ifanother scan is not requested, then the user exits the algorithm in theexit algorithm step 5890. In FIG. 59, a drone sweep flow chart 5900describes a shadow caster sweep used by the Sun Drone Shadow CasterScanner System 5400 and the Drone Shadow Caster Scanner System 5600.First, movement parameters of the drones are set in the set parametersstep 5908. Next, the drones are aligned in midair in the align dronesstep 5911. Next, in the begin sweeping step 5945, the shadow drones 5420or 5620 begin sweeping by flying in unison over the target area at aconstant speed. Next, the drone positions are determined in the getcurrent drone position step 5927. Next, whether the drones aremisaligned is determined in the drone misalignment decision step 5910.If the drones are misaligned, then the drones are aligned in the aligndrones step 5940. Once the drones are not misaligned, then whether theshadow drones 5420 or 5620 reached the end of a sweep is determined inthe end of sweep decision step 5978. If the shadow drones 5420 or 5620did not reach the end of the sweep, then the get current drone positionstep 5927 is repeated, as described above. If the shadow drones 5420 or5620 did reach the end of the sweep and another scan is necessary, theset parameters step 5908 is repeated with the drones traveling in thereverse direction of the first scan in the repeat algorithm step 5997.

The construction details of the invention as shown FIG. 54, FIG. 55,FIG. 56, FIG. 57, FIG. 58, and FIG. 59, are that a drone comprises astandard remote controlled flying vehicle, or the like. The shadowcaster 5424 and 5624 comprise a lightweight, strong, rigid material,such as steel, copper cladding, plastic, high density plastic, silicone,PVC, fiberglass, carbon fiber, composite material, metal, galvanizedsteel, stainless steel, aluminum, brass, copper, wood, or other likematerial, and may further comprise configurable shapes,three-dimensionally-printed shapes, configurable opacity, such as liquidcrystal, or the like, or various colored filters, or the like. The videocameras of the camera drones 5430 or 5630 comprise a digital or analogvideo camera, or the like. The light sources for the light drones 5650comprise an incandescent light, a halogen light, fluorescent light, alinear light, a slitted tube light, an LED, an array of LEDs, a lineararray of LEDs, different colored light sources, colored LEDs, lasers, anX-ray source, a UV source, an infrared source, or the like. The memorystored in non-transitory computer-readable medium comprises software,instructions, data, algorithms, or the like. The processor comprises acomputer, a mobile phone, a PC, a CPU, or the like. The displaycomprises a monitor, a screen, a television, an augmented realityheadset, a microscope, or the like.

Referring now to another embodiment of the invention, in FIG. 60 andFIG. 61, a Tripod Shadow Scanner System 6000 is shown. FIG. 60 is aperspective view of a Tripod Shadow Scanner System 6000 in a stadium6070. FIG. 61 is a perspective view of a Tripod Shadow Scanner System6000 in the process of scanning a stadium.

In further detail, still referring to the invention of FIG. 60 and FIG.61, a Tripod Shadow Scanner System 6000 comprises a shadow casterplatform 6037, said shadow caster platform 6037 being horizontal andcapable of rotation; a light source 6050, said light source 6050depending from the center of said shadow caster platform 6037; at leastone shadow caster 6020, each said shadow caster 6020 depending from saidshadow caster platform 6037 around said light source 6050 andcomprising: a vertical panel 6024, and an angled panel 6022, said angledpanel 6022 being angled towards said light source 6050; a plurality ofvideo cameras 6030, each said video camera 6030 being mounted on atripod 6033; a memory stored in non-transitory computer-readable medium;a processor (not shown), said processor comprising: saidcomputer-readable medium; and a display (not shown); wherein saidplurality of video cameras 6030 are arranged around said shadow casterplatform 6037; wherein said light source 6050 illuminates said at leastone shadow caster 6020 to project high contrast shadows 6067 of knowngeometry, which form said one or more edges of luminosity on the stadium6070; wherein said shadow caster platform 6037 is rotated, therebyrotating said shadow casters 6020 around said light source 6050 in orderto sweep said one or more edges of luminosity across said stadium 6070;wherein said plurality of video cameras 6030 detect said one or moreedges of luminosity for three-dimensional points on said stadium 6070and records said three-dimensional points into said memory; wherein saidprocessor forms a three-dimensional data representation from recordedsaid three-dimensional points; wherein said processor generates saidthree-dimensional model of said stadium using said three-dimensionaldata representation; and wherein said three-dimensional model isdisplayed on said display using said processor. In other version of thisembodiment, the shadow caster platform 6037 remained static while thelight source 6050, which is directional, rotates.

The construction details of the invention as shown FIG. 60 and FIG. 61,are that a shadow caster platform 6037 comprises a strong rigidmaterial, such as steel, copper cladding, plastic, high density plastic,silicone, PVC, fiber glass, carbon fiber, composite material, metal,galvanized steel, stainless steel, aluminum, brass, copper, wood, orother like material. The light sources 6050 comprises an incandescentlight, a halogen light, fluorescent light, a linear light, a slittedtube light, an LED, an array of LEDs, a linear array of LEDs, differentcolored light sources, colored LEDs, lasers, an X-ray source, a UVsource, an infrared source, or the like. The shadow casters 6020comprise a strong rigid material, such as steel, copper cladding,plastic, high density plastic, silicone, PVC, fiberglass, carbon fiber,composite material, metal, galvanized steel, stainless steel, aluminum,brass, copper, wood, or other like material, and may further compriseconfigurable shapes, three-dimensionally-printed shapes, configurableopacity, such as liquid crystal, or the like, or various coloredfilters, or the like. The vertical panel 6024 comprises a strong rigidmaterial, such as steel, copper cladding, plastic, high density plastic,silicone, PVC, fiberglass, carbon fiber, composite material, metal,galvanized steel, stainless steel, aluminum, brass, copper, wood, orother like material, and may further comprise configurable shapes,three-dimensionally-printed shapes, configurable opacity, such as liquidcrystal, or the like, or various colored filters, or the like. Theangled panel 6022 comprises a strong rigid material, such as steel,copper cladding, plastic, high density plastic, silicone, PVC,fiberglass, carbon fiber, composite material, metal, galvanized steel,stainless steel, aluminum, brass, copper, wood, or other like material,and may further comprise configurable shapes,three-dimensionally-printed shapes, configurable opacity, such as liquidcrystal, or the like, or various colored filters, or the like. The videocameras 6030 comprise digital or analog video cameras, or the like. Thememory stored in non-transitory computer-readable medium comprisessoftware, instructions, data, algorithms, or the like. The processorcomprises a computer, a mobile phone, a PC, a CPU, or the like. Thedisplay comprises a monitor, a screen, a television, an augmentedreality headset, a microscope, or the like.

Referring now to another embodiment of the invention, in FIG. 62, FIG.63, and FIG. 64, the algorithm, sweep, and operation, flow charts of asingle mobile shadow caster scanner or desktop shadow scanner are shown.FIG. 62 displays an algorithm flow chart 6200 describing the algorithmused by a single mobile shadow caster scanner or desktop shadow scanner,which use a single shadow caster. FIG. 63 is a sweep flow chart 6300,which describes a shadow caster sweep used by a single mobile shadowcaster scanner or desktop shadow scanner. FIG. 64 demonstrates anoperation flow chart 6400 describing the operation of a single mobileshadow caster scanner or desktop shadow scanner.

In further detail, still referring to the invention of FIG. 62, FIG. 63,and FIG. 64, in FIG. 62, the algorithm flow chart 6200 describes thealgorithm used by a single mobile shadow caster scanner or desktopshadow scanner. The first step in the algorithm for a single mobileshadow caster scanner or desktop shadow scanner comprises starting theprogram, in the start program step 6204. Next, user-provided orprogram-specified scan and analysis parameters are collected in thecollect parameters step 6208. Next, the camera starts recording video inthe start recording step 6225. Next, in the start sweeping step 6245,the motor is started in order to move the shadow caster and sweep edgesof luminosity across the subject. Next, frames of the recorded video arecollected in the collect video step 6250. Next, whether the video bufferis filled enough to analyze is determined in the buffer decision step6224. If the buffer is not filled enough, the collect video step 6250 isrepeated, as described above. If the buffer is filled enough to analyze,the video frames are analyzed to build a point cloud in the analyzeframes step 6244. Next, new cloud points are filtered by the processorin the filter new cloud points step 6252. Next, the filtered point clouddisplay is updated in the update filtered cloud point step 6254. Next,whether there are still enough frames in the buffer is determined in thestill buffered decision step 6258. If there are not enough frames in thebuffer, the buffer decision step 6224 is repeated, as described above.If there are still enough frames in the buffer, whether to finishsweeping is determined in the finish sweeping decision step 6278. If thesweeping is not finished, then the analyze frames step 6244 is repeated,as described above. If the sweeping is finished, then the motor isstopped in the stop motor step 6268. Next, the camera stops recordingvideo of the subject in the stop recording step 6265. Next, analyzingframes is finished in the finish analyzing frames step 6264. Next, theprocessor filters the point cloud in the filter point cloud step 6270.Next, in the construct surface step 6275, the processor constructs amodel of a three-dimensional surface from the filtered point cloud.Next, the surface is saved to file in the save file step 6235. Next, themodel is displayed on the display by the processor in the display imagestep 6255. Whether another scan is requested is determined in theanother scan decision step 6230. If another scan is requested, the startrecording step 6225 is repeated, as described above. Lastly, if anotherscan is not requested, then the user exits the algorithm in the exitalgorithm step 6290. In FIG. 63, a sweep flow chart 6300 describes ashadow caster sweep used by a single mobile shadow caster scanner ordesktop shadow scanner. First, the motor parameters are set in the setmotor parameters step 6308. Next, in the begin sweeping step 6345, theshadow caster begins sweeping edges of luminosity across the subject.Next, the motor position is determined in the get current motor positionstep 6327. Next, whether the shadow caster reached the end of the sweepis determined in the end sweep decision step 6378. If the shadow casterdid not reach the end of the sweep, the get current motor position step6327 is repeated, as described above. If the shadow caster did reach theend of the sweep and another scan is necessary, the set motor parametersstep 6308 is repeated in the reverse direction of the first scan in therepeat algorithm step 6397. In FIG. 64, the operation flow chart 6400describes the operation of a single mobile shadow caster scanner ordesktop shadow scanner. The first step in the operation of a singlemobile shadow caster scanner or desktop shadow scanner comprisespositioning the scanner over the subject, in the position scanner step6405. Next, in the alignment decision step 6410, whether the scanner isaligned with the subject is determined. If the scanner is not aligned,the scanner is then aligned with the subject in the align scanner step6440. Once the scanner is aligned, whether the camera is focused on thesubject is determined in the focus decision step 6415. If the camera isnot focused, the camera is then focused in the focus camera step 6420.Once the camera is focused, the camera starts recording video of thesubject in the start recording step 6425. Next, in the start sweepingstep 6445, the shadow caster begins to sweep edges of luminosity acrossthe subject. Next, frames of the recorded video are collected andanalyzed by the processor to make a point cloud in the collect andanalyze step 6450. Next, new cloud points are filtered by the processorin the filter new cloud points step 6452. Next, the filtered point clouddisplay is updated in the update filtered cloud point step 6454. Next,whether the entire region of interest has been scanned is determined inthe entire scan decision step 6467. If the entire region of interest hasnot been scanned, then repeat the collect and analyze step 6450, asdescribed above. If the entire region of interest has been scanned, thenthe processor filters the whole point cloud in the filter whole pointcloud step 6470. Next, in the construct surface step 6475, the processorconstructs a model of a three-dimensional surface from the filteredpoint cloud. Next, the surface is saved to file in the save file step6435. Next, the model is displayed on the display by the processor inthe display image step 6455. Whether another scan is needed isdetermined in the another scan decision step 6430. If another scan isneeded, the start recording step 6425 is repeated, as described above.If another scan is not needed, the shadow caster stops sweeping theedges of luminosity across the subject in the stop sweeping step 6460.Next, the camera stops recording video of the subject in the stoprecording step 6465. Lastly, the scanner is stored after operation inthe store scanner step 6480.

Referring now to another embodiment of the invention, in FIG. 65 andFIG. 66, the operation flow charts of room shadow caster scanners areshown. FIG. 65 illustrates a single tripod room scanner operation flowchart 6500 describing the operation of a shadow caster scanner, whichmay be used with a tripod, for scanning a room. FIG. 66 depicts aoverhead lights room scanner operation flow chart 6600 describing theoperation of a shadow caster scanner, which may be used with overheadlights, for scanning a room.

In further detail, still referring to the invention of FIG. 65 and FIG.66, in FIG. 65, the single tripod room scanner operation flow chart 6500describes the operation of a shadow caster scanner, which may be usedwith a tripod, for scanning a room. The first step in the operation ofthe shadow caster, which may be used with a tripod for scanning a room,comprises setting up the tripod in the room in the position scanner step6505. Next, the lights are turned on in the light step 6509. Next, inthe alignment decision step 6510, whether the scanner is aligned withthe room is determined. If the scanner is not aligned, the scanner isthen aligned with the room in the align scanner step 6540. Once thescanner is aligned, whether the camera is focused on the room isdetermined in the focus decision step 6515. If the camera is notfocused, the camera is then focused in the focus camera step 6520. Oncethe camera is focused, the camera starts recording video of the room inthe start recording step 6525. Next, in the start sweeping step 6545,the light source begins to sweep edges of luminosity across the room.Next, frames of the recorded video are collected and analyzed by theprocessor to make a point cloud in the collect and analyze step 6550.Next, new cloud points are filtered by the processor in the filter newcloud points step 6552. Next, the filtered point cloud display isupdated in the update filtered cloud point step 6554. Next, whether theentire region of interest has been scanned is determined in the entirescan decision step 6567. If the entire region of interest has not beenscanned, then repeat the collect and analyze step 6550, as describedabove. If the entire region of interest has been scanned, then theprocessor filters the whole point cloud in the filter whole point cloudstep 6570. Next, in the construct surface step 6575, the processorconstructs a model of a three-dimensional surface of the room from thefiltered point cloud. Next, the surface is saved to file in the savefile step 6535. Next, the model is displayed on the display by theprocessor in the display image step 6555. Whether another scan is neededis determined in the another scan decision step 6530. If another scan isneeded, the start sweeping step 6545 is repeated, as described above. Ifanother scan is not needed, the shadow caster stops sweeping the edgesof luminosity across the room in the stop sweeping step 6560. Next, thecamera stops recording video of the room in the stop recording step6565. Lastly, the scanner is stored after operation in the store scannerstep 6580. In FIG. 66, the overhead lights room scanner operation flowchart 6600 describing the operation of a shadow caster scanner, whichmay be used with overhead lights, for scanning a room. The first step inthe operation of the shadow caster, which may be used with overheadlights for scanning a room, comprises setting up scanner pieces in theroom in the set up step 6605. Next, the overhead lights are turned on inthe light step 6616. Next, in the illumination decision step 6617,whether the area of the room is illuminated is determined. If the areaof the room is not illuminated, then re-orient the lights in there-orient lights step 6618. Once the area of the room is illuminated, inthe alignment decision step 6610, whether the shadow caster is alignedwith the camera is determined. If the shadow caster is not aligned withthe camera, the shadow caster is then aligned with the camera in thealign scanner step 6640. Once the shadow caster is aligned with thecamera, whether the camera is focused on the room is determined in thefocus decision step 6615. If the camera is not focused, the camera isthen focused in the focus camera step 6620. Once the camera is focused,the camera starts recording video of the room in the start recordingstep 6625. Next, in the start sweeping step 6645, the shadow casterbegins to sweep edges of luminosity across the room. Next, frames of therecorded video are collected and analyzed by the processor to make apoint cloud in the collect and analyze step 6650. Next, new cloud pointsare filtered by the processor in the filter new cloud points step 6652.Next, the filtered point cloud display is updated in the update filteredcloud point step 6654. Next, whether the entire region of interest hasbeen scanned is determined in the entire scan decision step 6667. If theentire region of interest has not been scanned, then repeat the collectand analyze step 6650, as described above. If the entire region ofinterest has been scanned, then the processor filters the whole pointcloud in the filter whole point cloud step 6670. Next, in the constructsurface step 6675, the processor constructs a model of athree-dimensional surface of the room from the filtered point cloud.Next, the surface is saved to file in the save file step 6635. Next, themodel is displayed on the display by the processor in the display imagestep 6655. Next, whether another scan is needed is determined in theanother scan decision step 6630. If another scan is needed, the startsweeping step 6645 is repeated, as described above. If another scan isnot needed, the shadow caster stops sweeping the edges of luminosityacross the room in the stop sweeping step 6660. Next, the camera stopsrecording video of the room in the stop recording step 6665. Lastly, thescanner is stored after operation in the store scanner step 6680.

Referring now to another embodiment of the invention, in FIG. 67 andFIG. 68, the algorithm flow charts of multiple camera shadow casterscanners are shown. FIG. 67 displays a multi-camera algorithm flow chart6700 describing the algorithm used by a multiple camera shadow casterscanner. FIG. 68 illustrates a multi-camera static shadow caster flowchart 6800 describing the algorithm of a multiple camera shadow casterscanner, which uses a single static shadow caster.

In further detail, still referring to the invention of FIG. 67 and FIG.68, in FIG. 67 a multi-camera algorithm flow chart 6700 describes thealgorithm used by a shadow caster scanner, which uses multiple cameras.The first step in the algorithm for a multiple camera shadow casterscanner comprises starting the program, in the start program step 6704.Next, user-provided or program-specified scan and analysis parametersare collected in the collect parameters step 6708. Next, the multiplecameras start recording video in the start recording step 6725. Next, inthe start sweeping step 6745, the motor is started in order to move theshadow caster and sweep edges of luminosity across the subject. Next,frames of the recorded video are collected from the multiple cameras inthe collect video step 6750. Next, whether the video buffer is filledenough to analyze is determined in the buffer decision step 6724. If thebuffer is not filled enough, the collect video step 6750 is repeated, asdescribed above. If the buffer is filled enough to analyze, the videoframes collected from the multiple cameras are analyzed to build a pointcloud in the analyze frames step 6744. Next, whether there are stillenough frames in the buffer is determined in the still buffered decisionstep 6758. If there are not enough frames in the buffer, the bufferdecision step 6724 is repeated, as described above. If there are stillenough frames in the buffer, whether to finish sweeping is determined inthe finish sweeping decision step 6778. If the sweeping is not finished,then the analyze frames step 6744 is repeated, as described above. Ifthe sweeping is finished, then the motors are stopped in the stop motorstep 6768. Next, the multiple cameras stop recording video of thesubject in the stop recording step 6765. Next, analyzing frames isfinished in the finish analyzing frames step 6764. Next, the processorfilters the point cloud in the filter point cloud step 6770. Next, pointclouds from the multiple cameras are registered with each other in theregister point clouds step 6279. Next, in the construct surface step6775, the processor constructs a model of a three-dimensional surfacefrom the filtered point clouds. Next, the surface is saved to file inthe save file step 6735. Next, the model is displayed on the display bythe processor in the display image step 6755. Whether another scan isrequested is determined in the another scan decision step 6730. Ifanother scan is requested, the start recording step 6725 is repeated, asdescribed above. Lastly, if another scan is not requested, then the userexits the algorithm in the exit algorithm step 6790. In FIG. 68, themulti-camera static shadow caster flow chart 6800 describes thealgorithm of a multiple camera shadow caster scanner, which usesmultiple cameras, including a main camera, and a single static shadowcaster. The first step in the algorithm for a multiple camera shadowcaster scanner, which uses a single static shadow caster, comprisesstarting the program, in the start program step 6804. Next,user-provided or program-specified scan and analysis parameters arecollected in the collect parameters step 6808. Next, the multiplecameras start recording video in the start recording step 6825. Next,one video frame is collected from all cameras in the collect one framestep 6850. Next, whether the video buffer is filled enough to analyze isdetermined in the buffer decision step 6824. If the buffer is not filledenough, the collect one frame step 6850 is repeated, as described above.If the buffer is filled enough to analyze, then calculate the speed ofthe target using frames from at least two cameras in the calculate speedstep 6851. Next, the main camera video frames are analyzed to build apoint cloud in the analyze frames step 6844. Next, whether there arestill enough frames in the buffer is determined in the still buffereddecision step 6858. If there are not enough frames in the buffer, thebuffer decision step 6824 is repeated, as described above. If there arestill enough frames in the buffer, then whether the target is out ofview of the main camera is determined in the view target decision step6814. If the target is not out of view of the main camera, then theanalyze frames step 6844 is repeated, as described above. If the targetis out of view of the main camera, then the multiple cameras stoprecording video of the subject in the stop recording step 6865. Next,the processor filters the point cloud in the filter point cloud step6870. Next, in the construct surface step 6875, the processor constructsa model of a three-dimensional surface from the filtered point cloud.Next, the surface is saved to file in the save file step 6835. Next, themodel is displayed on the display by the processor in the display imagestep 6855. Whether another scan is requested is determined in theanother scan decision step 6830. If another scan is requested, the startrecording step 6825 is repeated, as described above. Lastly, if anotherscan is not requested, then the user exits the algorithm in the exitalgorithm step 6890.

Referring now to another embodiment of the invention, in FIG. 69, a flowchart describing a method of creating a custom shadow caster is shown.

In further detail, still referring to the invention of FIG. 69, a customshadow caster flow chart 6900 describes a method of creating acustom-shaped shadow caster. First, in the determine profile step 6910,the overall object profile is determined using photography, video, orshadow projection. Next, in the shape generation step 6920, acustom-shaped shadow caster is generated in the shape of the overallobject profile using three-dimensional printing, configurable shadowcasters, other means of fabrication, or the like. Next, thecustom-shaped shadow caster is placed as close to the surface of theobject as possible in the place shadow caster step 6930. Lastly, eitherthe object of the shadow caster sweep edges of luminosity across theobject to affect the scan in the sweep object step 6940.

The construction details of the invention as shown in FIG. 69 are that acustom-shaped shadow caster comprises a strong rigid material, such assteel, copper cladding, plastic, high density plastic, silicone, PVC,fiberglass, carbon fiber, composite material, metal, galvanized steel,stainless steel, aluminum, brass, copper, wood, or other like material,and may further comprise configurable shapes,three-dimensionally-printed shapes, configurable opacity, such as liquidcrystal, or the like, or various colored filters, or the like, whichhave be manipulated into the desired form.

Referring now to another embodiment of the invention, in FIG. 70 andFIG. 71, a slitted linear light source 7000, which provides improvedscanning results with a shadow caster scanner, is shown. FIG. 70displays a perspective view of a slitted linear light source 7000. FIG.71 illustrates an exploded view of a slitted linear light source 7000.

In further detail, still referring to the invention of FIG. 70 and FIG.71, a slitted linear light source 7000 comprises a slitted tube 7010,said slitted tube 7010 comprising: an interior 7011, said interior 7011being painted white (paint including TiO₂), an exterior 7012, saidexterior 7012 being opaque, and a slit 7020, said slit 7020 running thelength of said slitted tube 7010 and comprising: a width; two lightsources 7060, said light sources 7060 depending on opposite ends of saidslitted tube 7010; two heat sinks 7050, said heat sinks 7050 dependingfrom said light sources 7060; two clamps 7030, each said clamp 7030wrapping around said slitted tube and comprising: a screw 7040; whereinsaid clamps 7030 are capable of adjusting said width of said slit 7020.The slitted tube 7010 allows the escape of light in a very thin form,which improves the accuracy of a shadow caster scanner. This tube couldalternatively be any cross-sectional shape as long as light escapesthrough a slit. The light sources 7060 are an assembly of LEDs. They canalso have a refracting element in front of them, but they can also bebare, as depicted. The LEDs could alternatively be in a linear array (asin a strip), laid in the slitted tube 7010 so that they do not shinedirectly out of the slit 7020 (which may produce a non-uniformillumination). Alternatively, fiber optics can be used to guide lightinto the slitted tube 7010. This alternative removes the localgeneration of heat, at the expense of requiring a fiber bundle beattached to the light. The LEDs require have heat sinks. However, forthe case of LEDs in a linear array, the slitted tube 7010 itself can bea heat sink. Other version may have a tube inside another tube, andallow for air to flow in the space between the tubes for heat control.The clamps 7030 are used to adjust the width of the slit 7020 bysqueezing or releasing the slitted tube 7010, thereby allowing the sizeof the slit 7020 to be increased or decreased, which increases ordecreases the light output, respectively. In variations of thisembodiment, as well as in variation of other light sources of thepresent invention, it may be advantageous to add a single lens or seriesof lenses that have a net negative optical power (a negative focallength). These lens may be cylindrical and running along the length ofthe slitted tube 7010. Such lens or lenses would have the effect ofreducing the intensity of the light on the object, increasing theangular extent of the light, and changing the effective distance of thelight source, depending on the focal length of the lens or lenscombination. For a negative lens, it would shift the effective sourcesome amount closer to the object.

The construction details of the invention as shown in FIG. 70 and FIG.71 are that the slitted tube 7010 comprises a flexible material, such asplastic, metal, composite material, or the like. The light sources 7060comprise an incandescent light, a fiber optic bundle, a halogen light,fluorescent light, a linear light, a slitted tube light, an LED, anarray of LEDs, a linear array of LEDs, different colored light sources,colored LEDs, lasers, an X-ray source, a UV source, an infrared source,or the like. The heat sinks 7050 comprise a heat-conducting material,such as metal, or the like. The clamps 7030 comprise a strong flexiblematerial, such as steel, plastic, high density plastic, silicone, PVC,fiberglass, carbon fiber, composite material, metal, galvanized steel,stainless steel, aluminum, brass, copper, wood, or other like material.The screws 7040 comprise a strong rigid material, such as steel, coppercladding, plastic, high density plastic, silicone, PVC, fiberglass,carbon fiber, composite material, metal, galvanized steel, stainlesssteel, aluminum, brass, copper, wood, or other like material.

The advantages of the present invention include, without limitation,that the light sources of the present invention involve a minimum ofoptics, which incur weight and expense, and include the possibility ofno lenses, in order to project a sharply contrasted pattern onto theobject being scanned; that it does not require optics to optimize a beamof light at a particular distance; that the light sources of the presentare relatively inexpensive compared to other technologies, such aslasers; that the light sources of the present invention are well-suitedfor a large depth of field; that the light sources of the presentinvention may comprise very bright sources and preserve accuracy if theyare far away enough from the shadow caster; that the light sources ofthe present invention do not rely on a pulsing technology, orphase-detection technology used in schemes that assess distance throughtime-delay measurements, which may limit the number of simultaneouspoints measured, as well as the absolute resolution that is limited tothe rise-time of typical electronics (100 ps), implying a 0.6-inchresolution in depth (meaning a 0.6 inch change results in anapproximately 100 ps delay), and which are sensitive to noise; that thelight sources of the present invention may optimally be an “extended”source along one dimension, in other words, a line, which illuminatesthe object from more angles than competing technology, and, asthree-dimensional-scanned surfaces must be simultaneously illuminatedand observed, this greater angle of illumination is advantageous, asmore of the object can be scanned than typical projection-basedscanners; that the hardware of the present invention can be separatedamong all three elements: light source, shadow caster, and lightreceiver, and, as such, there can be multiple cameras looking at asingle shadow edge from one or more shadow casters; that, because a“point-source” that has a practical width, an extension of such asource, by reproducing it along a line, adds light while improving thescene contrast because the extension adds light, but does so with areduced “solid angle” of the point light source because it is furtheraway from the edge of the shadow caster, so the linear light source addsbrightness while improving the resolution of the light source, onaverage; that the extended light source does not need to be notcontiguous, and there may be more than one light source, as long as theyare co-linear; that the light sources of the present invention can allconspire to cast one shadow edge (and, indeed increase its contrast), asthis conspiring extends the range of angles while using separate lightsources of practical construction, and increases the potential fordeveloping custom illumination geometries for a given task; that asingle light source can be used by multiple shadow casters, if they areremoved physically from the light, and a single long and bright light atthe top of a room can be used more locally by shadow caster-camerasystems throughout that room, if they are aligned; that the shadowgeneration scheme of the present invention can produce largedepth-of-field shadows, which retain their sharpness due to a geometriceffect, and not an effect caused by lenses, which inherently introducedepth-of field issues, such as with projectors that use lenses, whichmust be tailored to produce sharp patterns only over a limited range;that, by removing the necessity of an engineered projector, and byremoving the specificity of laser single-wavelength operation, the lightsource of the present invention can be of any wavelength, broad ornarrow bandwidth, and use white-light, and a fluorescence-excitationwavelength, in the same scan and use a single camera in alternating“modes;” that the present invention may also use laser light to cast ashadow or cast a shadow into laser-light, which is particularlyadvantageous for fluorescence measurements during surgery; that, as amatter of spatial resolution, white light used in the present inventionhas less visible diffraction artifacts, producing a sharper shadow, thandoes laser light and white light does not suffer the problem of speckleas much as narrow-band laser light does, and this noise source isavoided by the present invention; that the sharp edge, and the largecontrast afforded by the shadow in the present invention with its simplesingle-line geometry allows subsurface scattering measurements to bemade on the fly, leading to real-time biomedical applications, such asoptical biopsy for detecting skin cancer or cancer surgeries, sincedetermining the margins of healthy versus cancerous tissue is an ongoingchallenge; that, in the field of security, these subsurface scatteringmeasurements allow for improved security scanning because it is verydifficult to fake subsurface scattering features of a face; that thepresent invention; that these subsurface scattering measurements areuseful to the cosmetics world in computer graphics recreation of actors'faces; that the use of white-light is advantageous over single-frequencysources (laser or lamp) because real-time comparisons of scatteringproperties may be made for different frequencies of light, such as theblue versus red, for example; that with the present invention it wouldbe possible to use two distinct frequencies, since an array of LEDs maybe used, and LEDs of different wavelengths may be interwoven and flashalternately, with the camera optimized in its exposure on each alternateframe to capture the color information; that the side triangle crosssections of the shadow casters of the present invention allow light tobe extended laterally, while enabling the application of a shadow-castervery close to the object, while projecting a single, contiguous shadowedge, and these side shadow casters can connect to an intermediateshadow caster, as long as the shadow caster components, together, make atriangular cross-section as viewed along the line as defined by theextended light source; that the segmented shadow casters can speed upscans scalably for object geometries without much complexity by addingadditional bands of shadows, so that, during the sweep, for simpleobjects, these separate shadows will not appear overlapping, and can beindependently analyzed with the separation of the shadows depending onthe complexity of the object; that the simplicity of the light source ofthe present invention indicates that any linear light source couldserve, including x-rays, with which lensless projection of shadows isrelatively easy, although X-ray structured scanning would not usually beparticularly feasible, as it usually requires imaging a pattern to theobject, and then imaging the scattered light; that typical embodimentsof this technology hold the camera and the light source still forimproved accuracy with the changes to the scene being due primarily tothe shadow edge, meaning that overall the illumination of the objectchanges very little during the scan, especially for shadow areas thatare relatively narrow, allowing for a large signal-to-noise ratio in thegenerated scan; that typical embodiments of the present invention havethe camera, light, and shadow caster, all robustly attached to eachother in a pre-calibrated way, so that of there is a loss ofcalibration, it can be determined again in an autonomous way (albeitwith additional hardware such as a calibration stand); that the scanningtechnology of the present invention may be configured with a variety oftradeoffs including brightness versus accuracy, so that flat items canbe scanned with very fine resolution (microscopy), using a specificoptimized geometry; that the present invention has improved potentialraw accuracy; that large-scale items can be measured with sub-mmaccuracy, as long as cameras record the shadow edge; that the shadow canalways be made sharp for improved accuracy, if it can be brought closeto the item being scanned; that the scanner does not depend onfeature-matching, or photogrammetry, in any way and instead depends ontriangulation alone, using the aforementioned high signal to noiseratio, providing a single “right” answer, and increasing the certaintyof the scan; that the noise in a scan can often be removed in a moreautomated way than other scanning techniques, which are often marred bybanding and other artifacts; that with the present invention there areoccasions when noise in the image overwhelms even the contrast affordedby the sharp shadow edge, however, this noise usually takes place manypixels from the shadow edge, and in the triangulation of the data thatfollows, then, such noise points end up very far removed and sparselypositioned in 3D space, making them easily filtered using adensity-threshold algorithm, which calculates the average radius of eachpoint from a certain number of its closest neighbors, and removes thosewith an average distance greater than a threshold, g resulting in a veryclean scan; that object motion may be more easily compensated with thepresent invention by tracking motion during the scan (perhaps with aseparate camera); that the present invention is useful for scanningpeople, who tend to shift their weight side-to-side, especially whensitting; that the present invention detects for each picture both thecolor of the object and its 3D coordinate simultaneously, meaning thatif the object moves in three dimensions, its accurate color will also berepresented, and the simultaneous determination of three dimensionalshape, as well as color, is on a pixel-by-pixel basis removes thecomplex problem of registering the color image on a 3D scan in general,and in the present invention this data is auto-aligned, as it comes froma single camera. Overall, the present invention offers improved scanningquality and accuracy, which is relatively inexpensive, in the generationof three-dimensional models using shadow casters.

In broad embodiment, the present invention relates generally toapparatuses, methods, and systems, for generating one or more edges ofluminosity to form three-dimensional models of objects or environments.In broad embodiment, the present invention comprises one or more lightsources and one or more shadow casters, which generate one or more edgesof luminosity across objects or areas being modeled, one or more meansof detecting the one or more edges of luminosity, a means of moving theone or more edges of luminosity relative to the objects or areas beingmodeled, and a means of generating three-dimensional models of theobjects or areas being modeled, as well as related methods and systems.These embodiments are not intended to limit the scope of the presentinvention.

While the foregoing written description of the invention enables one ofordinary skill to make and use what is considered presently to be thebest mode thereof, those of ordinary skill will understand andappreciate the existence of variations, combinations, and equivalents ofthe specific embodiment, method, and examples herein. The inventionshould therefore not be limited by the above described embodiments,methods, and examples, but by all embodiments and methods that arewithin the scope and spirit of the invention as claimed.

What is claimed is:
 1. An apparatus for generating one or more edges ofluminosity to form three-dimensional models of an object, said apparatuscomprising: a shadow caster, said shadow caster comprising: a frontsegment, said front segment being rectangular, two side segments, eachsaid side segment depending perpendicularly from opposite ends of saidfront segment, each said side segment comprising: a triangular shape,and a pivot point, and an attachment, said attachment depending from onesaid side segment; an actuator assembly, said actuator assemblycomprising: an actuator arm, an actuator motor, said actuator motordepending from said actuator arm, and an actuator connector, saidactuator connector depending from said actuator motor and connecting tosaid attachment of said shadow caster; a light source, said light sourcebeing discrete, continuous, linear, and positioned along a lineextending between said pivot points of said side segments of said shadowcaster; a video camera; a memory stored in non-transitorycomputer-readable medium; and a processor, said processor comprising:said computer-readable medium; wherein said light source illuminatessaid shadow caster to project sharp shadows of known geometry, whichform said one or more edges of luminosity on said object; wherein saidactuator motor moves said shadow caster in order to sweep said one ormore edges of luminosity across said object; wherein said video cameracaptures images of said one or more edges of luminosity on said objectand record said images into said memory; wherein said processor forms athree-dimensional data representation from recorded said images; andwherein said processor generates said three-dimensional model of saidobject using said three-dimensional data representation.
 2. An apparatusof claim 1, wherein said shadow caster further comprises configurableopacity.
 3. An apparatus of claim 1, wherein said shadow caster furthercomprises color filters.
 4. An apparatus of claim 1, said apparatusfurther comprising an augmented reality headset, wherein saidthree-dimensional model is displayed in said augmented reality headset.5. An apparatus of claim 1, wherein said front segment of said shadowcaster further comprises multiple front sections and said side segmentsof said shadow caster comprises multiple side sections.
 6. An apparatusof claim 1, wherein said object is a room, said room comprising: aceiling upon which said apparatus is mounted.
 7. An apparatus of claim1, wherein said object is a person, said person comprising: skin, andwherein said three-dimensional model further comprises: athree-dimensional skin model of said skin of said person.
 8. Anapparatus of claim 1 for use in brain surgery of a patient, saidapparatus further comprising: a drape, said drape conforming to saidapparatus and being capable of protecting said patient fromcontamination; and a clamp assembly, said clamp assembly capable offixing the position of said apparatus relative to said patient.
 9. Amethod of using an apparatus of claim 1 for brain surgery of a patient,said method comprising: aligning said apparatus with said patient;focusing said video camera of said apparatus on said patient; startingto record video of said patient using said video camera; sweeping saidone or more edges of luminosity across said patient using said actuatormotor; capturing images of said one or more edges of luminosity on saidpatient using said video camera; stopping to record video of saidpatient; collecting and analyzing said images using said processor;forming a three-dimensional data representation from said images usingsaid processor; and generating said three-dimensional model of saidpatient using said three-dimensional data representation using saidprocessor.
 10. A method of using an apparatus of claim 1 for roboticsurgery of a patient, said method comprising: providing a robot forinteracting with said apparatus, said robot being capable of interactingwith said video camera, said actuator motor, and said processor, saidrobot comprising: a navigation computer, said navigation computer beingcapable of navigating said robot, said navigation computer comprising:said memory, and said computer-readable medium, one or more positioningrobotic motors, one or more aligning robotic motors, and one or morefocusing robotic motors; positioning said apparatus over said patientusing said one or more positioning robotic motors; aligning saidapparatus with said patient using said one or more aligning roboticmotors; focusing said video camera of said apparatus on said patientusing said one or more focusing robotic motors; recording video of saidpatient using said video camera; sweeping said one or more edges ofluminosity across said patient using said actuator motor; capturingimages of said one or more edges of luminosity on said patient usingsaid video camera; collecting and analyzing said images using saidprocessor; forming a three-dimensional data representation from saidimages using said processor; generating said three-dimensional model ofsaid patient using said three-dimensional data representation using saidprocessor; and storing said three-dimensional model to said navigationcomputer of said robot for use during said robotic surgery.
 11. A methodof using an apparatus of claim 1 for brain surgery of a patient, saidmethod comprising: scanning the brain of said patient prior to saidbrain surgery using other scanning techniques to generate a prior modelof said brain, said other scanning techniques comprising: an MRI scan, aCAT scan, a CT scan, a PET scan, or an ultrasound scan; storing saidprior model in said memory using said processor; aligning said apparatuswith said patient; focusing said video camera of said apparatus on saidpatient; starting to record video of said patient using said videocamera; sweeping said one or more edges of luminosity across saidpatient using said actuator motor; capturing images of said one or moreedges of luminosity on said patient using said video camera; stopping torecord video of said patient; collecting and analyzing said images usingsaid processor; forming a three-dimensional data representation fromsaid images using said processor; generating said three-dimensionalmodel of said patient using said three-dimensional data representationusing said processor; and comparing said three-dimensional model to saidprior model using said processor.
 12. A method of using an apparatus ofclaim 1 for brain surgery of a patient with a rhythmically pulsingbrain, said method comprising: aligning said apparatus with saidrhythmically pulsing brain of said patient; focusing said video cameraof said apparatus on said rhythmically pulsing brain of said patient;starting to record video of said rhythmically pulsing brain of saidpatient using said video camera; determining the blood pressure waveprofile of said patient, said blood pressure wave profile comprising:the rhythmic pulsing of the blood pressure of said patient; sweepingsaid one or more edges of luminosity across said rhythmically pulsingbrain of said patient using said actuator motor; capturing images ofsaid one or more edges of luminosity on said rhythmically pulsing brainof said patient using said video camera; stopping to record video ofsaid rhythmically pulsing brain of said patient; collecting andanalyzing said images using said processor; eliminating the rhythmicmotion of said rhythmically pulsing brain of said patient using saidblood pressure wave profile and said processor; accounting for thescanning motion of said shadow caster using said processor; forming athree-dimensional data representation from said images and eliminatedsaid rhythmic motion of said rhythmically pulsing brain of said patientusing said processor; and generating said three-dimensional model ofsaid patient using said three-dimensional data representation using saidprocessor.
 13. An apparatus of claim 1 for use in surgery of a patient,said apparatus further comprising: fiducials, said fiducials beingdisposed on said patient and in the surroundings of said patient, saidfiducials comprising one or more recognizable patterns; wherein saidfiducials aid in registering the location of said patient's anatomyrelative to the surroundings of said patient.
 14. A method of using anapparatus of claim 1 for surgery of a patient, said method comprising:providing fiducials disposed on said patient and in the surroundings ofsaid patient, said fiducials comprising one or more recognizablepatterns; aligning said apparatus with said patient and saidsurroundings using said fiducials; focusing said video camera of saidapparatus on said patient; starting to record video of said patientusing said video camera; sweeping said one or more edges of luminosityacross said patient using said actuator motor; capturing images of saidone or more edges of luminosity on said patient using said video camera;stopping to record video of said patient; collecting and analyzing saidimages using said processor; forming a three-dimensional datarepresentation from said images using said processor; generating saidthree-dimensional model of said patient using said three-dimensionaldata representation using said processor.
 15. A method of using anapparatus of claim 1 for robotic brain surgery of a patient, said methodcomprising: providing a robot for mounting said apparatus, said robotbeing capable of interacting with said video camera, said actuatormotor, and said processor, said robot comprising: a navigation computer,said navigation computer being capable of navigating said robot, saidnavigation computer comprising: said memory, and said computer-readablemedium, one or more positioning robotic motors, one or more aligningrobotic motors, and one or more focusing robotic motors; positioningsaid apparatus over said patient using said one or more positioningrobotic motors; providing fiducials disposed on said patient and in thesurroundings of said patient, said fiducials comprising one or morerecognizable patterns; aligning said apparatus with said patient andsaid surroundings using said fiducials and said one or more aligningrobotic motors; focusing said video camera of said apparatus on saidpatient using said one or more focusing robotic motors; recording videoof said patient using said video camera; sweeping said one or more edgesof luminosity across said patient using said actuator motor; capturingimages of said one or more edges of luminosity on said patient usingsaid video camera; collecting and analyzing said images using saidprocessor; forming a three-dimensional data representation from saidimages using said processor; generating said three-dimensional model ofsaid patient using said three-dimensional data representation using saidprocessor; storing said three-dimensional model to said navigationcomputer of said robot for use during said robotic brain surgery.
 16. Amethod of using an apparatus of claim 1 for brain surgery of a patient,said method comprising: scanning the brain of said patient prior to saidbrain surgery using other scanning techniques to generate a prior modelof said brain, said other scanning techniques comprising: an MRI scan, aCAT scan, a CT scan, a PET scan, or an ultrasound scan; storing saidprior model in said memory using said processor; providing fiducialsdisposed on said patient and in the surroundings of said patient, saidfiducials comprising one or more recognizable patterns; aligning saidapparatus with said patient and said surroundings using said fiducials;focusing said video camera of said apparatus on said patient; startingto record video of said patient using said video camera; sweeping saidone or more edges of luminosity across said patient using said actuatormotor; capturing images of said one or more edges of luminosity on saidpatient using said video camera; stopping to record video of saidpatient; collecting and analyzing said images using said processor;forming a three-dimensional data representation from said images usingsaid processor; generating said three-dimensional model of said patientusing said three-dimensional data representation using said processor;and comparing said three-dimensional model to said prior model usingsaid processor.
 17. A method of using an apparatus of claim 1 for brainsurgery of a patient with a rhythmically pulsing brain, said methodcomprising: providing fiducials disposed on said patient and in thesurroundings of said patient, said fiducials comprising one or morerecognizable patterns; aligning said apparatus with said rhythmicallypulsing brain of said patient and said surroundings using said fiducialsin order to scan a region of interest; focusing said video camera ofsaid apparatus on said rhythmically pulsing brain of said patient;starting to record video of said rhythmically pulsing brain of saidpatient using said video camera; determining the blood pressure waveprofile of said patient, said blood pressure wave profile comprising:the rhythmic pulsing of the blood pressure of said patient; sweepingsaid one or more edges of luminosity across said rhythmically pulsingbrain of said patient using said actuator motor; capturing images ofsaid one or more edges of luminosity on said rhythmically pulsing brainof said patient using said video camera; stopping to record video ofsaid rhythmically pulsing brain of said patient; collecting andanalyzing said images using said processor; eliminating the rhythmicmotion of said rhythmically pulsing brain of said patient using saidblood pressure wave profile and said processor; accounting for thescanning motion of said shadow caster using said processor; forming athree-dimensional data representation from said images and eliminatedsaid rhythmic motion of said rhythmically pulsing brain of said patientusing said processor; and generating said three-dimensional model ofsaid patient using said three-dimensional data representation using saidprocessor.
 18. An apparatus of claim 1, said apparatus furthercomprising a display, wherein said three-dimensional model is displayedon said display.
 19. An apparatus of claim 1, wherein said shadow casterfurther comprises a liquid crystal matrix, said liquid crystal matrixbeing capable of generating opaque regions.
 20. An apparatus of claim 1,wherein said shadow caster further comprises periodic opacity variation.21. A method of using an apparatus of claim 1 for brain surgery of apatient, said method comprising: providing a display; scanning the brainof said patient prior to said brain surgery using other scanningtechniques to generate a prior model of said brain, said other scanningtechniques comprising: an MRI scan, a CAT scan, a CT scan, a PET scan,or an ultrasound scan; storing said prior model in said memory usingsaid processor; aligning said apparatus with said patient; focusing saidvideo camera of said apparatus on said patient; starting to record videoof said patient using said video camera; sweeping said one or more edgesof luminosity across said patient using said actuator motor; capturingimages of said one or more edges of luminosity on said patient usingsaid video camera; stopping to record video of said patient; collectingand analyzing said images using said processor; forming athree-dimensional data representation from said images using saidprocessor; generating said three-dimensional model of said patient usingsaid three-dimensional data representation using said processor;comparing said three-dimensional model to said prior model using saidprocessor; and displaying said three-dimensional model overlaid on saidprior model on said display using said processor.
 22. A method of usingan apparatus of claim 1 for brain surgery of a patient with arhythmically pulsing brain, said method comprising: providing a display;aligning said apparatus with said rhythmically pulsing brain of saidpatient; focusing said video camera of said apparatus on saidrhythmically pulsing brain of said patient; starting to record video ofsaid rhythmically pulsing brain of said patient using said video camera;determining the blood pressure wave profile of said patient, said bloodpressure wave profile comprising: the rhythmic pulsing of the bloodpressure of said patient; sweeping said one or more edges of luminosityacross said rhythmically pulsing brain of said patient using saidactuator motor; capturing images of said one or more edges of luminosityon said rhythmically pulsing brain of said patient using said videocamera; stopping to record video of said rhythmically pulsing brain ofsaid patient; collecting and analyzing said images using said processor;eliminating the rhythmic motion of said rhythmically pulsing brain ofsaid patient using said blood pressure wave profile and said processor;accounting for the scanning motion of said shadow caster using saidprocessor; forming a three-dimensional data representation from saidimages and eliminated said rhythmic motion of said rhythmically pulsingbrain of said patient using said processor; generating saidthree-dimensional model of said patient using said three-dimensionaldata representation using said processor; and displaying saidthree-dimensional model overlaid on said rhythmically pulsing brain onsaid display using said processor.
 23. An apparatus of claim 1, whereinsaid shadow caster further comprises a pattern.
 24. An apparatus forgenerating one or more edges of luminosity to form three-dimensionalmodels of an object, said apparatus comprising: a shadow caster, saidshadow caster comprising: a front segment, said front segment beingrectangular, two side segments, each said side segment dependingperpendicularly from opposite ends of said front segment, each said sidesegment comprising: a pivot point, and an attachment, said attachmentdepending from one said side segment; an actuator assembly, saidactuator assembly comprising: an actuator arm, an actuator motor, saidactuator motor depending from said actuator arm, and an actuatorconnector, said actuator connector depending from said actuator motorand connecting to said attachment of said shadow caster; a light source,said light source being discrete, continuous, linear, and positionedalong a line extending between said pivot points of said side segmentsof said shadow caster; a video camera; a memory stored in non-transitorycomputer-readable medium; and a processor, said processor comprising:said computer-readable medium; wherein said light source illuminatessaid shadow caster to project sharp shadows of known geometry, whichform said one or more edges of luminosity on said object; wherein saidactuator motor moves said shadow caster in order to sweep said one ormore edges of luminosity across said object; wherein said video cameracaptures images of said one or more edges of luminosity on said objectand record said images into said memory; wherein said processor forms athree-dimensional data representation from recorded said images; andwherein said processor generates said three-dimensional model of saidobject using said three-dimensional data representation.
 25. Anapparatus of claim 24, wherein said shadow caster further comprisesconfigurable opacity.
 26. An apparatus of claim 24, wherein said shadowcaster further comprises color filters.
 27. An apparatus of claim 24,said apparatus further comprising an augmented reality headset, whereinsaid three-dimensional model is displayed in said augmented realityheadset.
 28. An apparatus of claim 24, wherein said front segment ofsaid shadow caster further comprises multiple front sections and saidside segments of said shadow caster comprises multiple side sections.29. An apparatus of claim 24, wherein said object is a room, said roomcomprising: a ceiling upon which said apparatus is mounted.
 30. Anapparatus of claim 24, wherein said object is a person, said personcomprising: skin, and wherein said three-dimensional model furthercomprises: a three-dimensional skin model of said skin of said person.31. An apparatus of claim 24 for use in brain surgery of a patient, saidapparatus further comprising: a drape, said drape conforming to saidapparatus and being capable of protecting said patient fromcontamination; and a clamp assembly, said clamp assembly capable offixing the position of said apparatus relative to said patient.
 32. Amethod of using an apparatus of claim 24 for brain surgery of a patient,said method comprising: aligning said apparatus with said patient;focusing said video camera of said apparatus on said patient; startingto record video of said patient using said video camera; sweeping saidone or more edges of luminosity across said patient using said actuatormotor; capturing images of said one or more edges of luminosity on saidpatient using said video camera; stopping to record video of saidpatient; collecting and analyzing said images using said processor;forming a three-dimensional data representation from said images usingsaid processor; and generating said three-dimensional model of saidpatient using said three-dimensional data representation using saidprocessor.
 33. A method of using an apparatus of claim 24 for roboticsurgery of a patient, said method comprising: providing a robot forinteracting with said apparatus, said robot being capable of interactingwith said video camera, said actuator motor, and said processor, saidrobot comprising: a navigation computer, said navigation computer beingcapable of navigating said robot, said navigation computer comprising:said memory, and said computer-readable medium, one or more positioningrobotic motors, one or more aligning robotic motors, and one or morefocusing robotic motors; positioning said apparatus over said patientusing said one or more positioning robotic motors; aligning saidapparatus with said patient using said one or more aligning roboticmotors; focusing said video camera of said apparatus on said patientusing said one or more focusing robotic motors; recording video of saidpatient using said video camera; sweeping said one or more edges ofluminosity across said patient using said actuator motor; capturingimages of said one or more edges of luminosity on said patient usingsaid video camera; collecting and analyzing said images using saidprocessor; forming a three-dimensional data representation from saidimages using said processor; generating said three-dimensional model ofsaid patient using said three-dimensional data representation using saidprocessor; and storing said three-dimensional model to said navigationcomputer of said robot for use during said robotic surgery.
 34. A methodof using an apparatus of claim 24 for brain surgery of a patient, saidmethod comprising: scanning the brain of said patient prior to saidbrain surgery using other scanning techniques to generate a prior modelof said brain, said other scanning techniques comprising: an MRI scan, aCAT scan, a CT scan, a PET scan, or an ultrasound scan; storing saidprior model in said memory using said processor; aligning said apparatuswith said patient; focusing said video camera of said apparatus on saidpatient; starting to record video of said patient using said videocamera; sweeping said one or more edges of luminosity across saidpatient using said actuator motor; capturing images of said one or moreedges of luminosity on said patient using said video camera; stopping torecord video of said patient; collecting and analyzing said images usingsaid processor; forming a three-dimensional data representation fromsaid images using said processor; generating said three-dimensionalmodel of said patient using said three-dimensional data representationusing said processor; and comparing said three-dimensional model to saidprior model using said processor.
 35. A method of using an apparatus ofclaim 24 for brain surgery of a patient with a rhythmically pulsingbrain, said method comprising: aligning said apparatus with saidrhythmically pulsing brain of said patient; focusing said video cameraof said apparatus on said rhythmically pulsing brain of said patient;starting to record video of said rhythmically pulsing brain of saidpatient using said video camera; determining the blood pressure waveprofile of said patient, said blood pressure wave profile comprising:the rhythmic pulsing of the blood pressure of said patient; sweepingsaid one or more edges of luminosity across said rhythmically pulsingbrain of said patient using said actuator motor; capturing images ofsaid one or more edges of luminosity on said rhythmically pulsing brainof said patient using said video camera; stopping to record video ofsaid rhythmically pulsing brain of said patient; collecting andanalyzing said images using said processor; eliminating the rhythmicmotion of said rhythmically pulsing brain of said patient using saidblood pressure wave profile and said processor; accounting for thescanning motion of said shadow caster using said processor; forming athree-dimensional data representation from said images and eliminatedsaid rhythmic motion of said rhythmically pulsing brain of said patientusing said processor; and generating said three-dimensional model ofsaid patient using said three-dimensional data representation using saidprocessor.
 36. An apparatus of claim 24 for use in surgery of a patient,said apparatus further comprising: fiducials, said fiducials beingdisposed on said patient and in the surroundings of said patient, saidfiducials comprising one or more recognizable patterns; wherein saidfiducials aid in registering the location of said patient's anatomyrelative to the surroundings of said patient.
 37. A method of using anapparatus of claim 24 for surgery of a patient, said method comprising:providing fiducials disposed on said patient and in the surroundings ofsaid patient, said fiducials comprising one or more recognizablepatterns; aligning said apparatus with said patient and saidsurroundings using said fiducials; focusing said video camera of saidapparatus on said patient; starting to record video of said patientusing said video camera; sweeping said one or more edges of luminosityacross said patient using said actuator motor; capturing images of saidone or more edges of luminosity on said patient using said video camera;stopping to record video of said patient; collecting and analyzing saidimages using said processor; forming a three-dimensional datarepresentation from said images using said processor; generating saidthree-dimensional model of said patient using said three-dimensionaldata representation using said processor.
 38. A method of using anapparatus of claim 24 for robotic brain surgery of a patient, saidmethod comprising: providing a robot for mounting said apparatus, saidrobot being capable of interacting with said video camera, said actuatormotor, and said processor, said robot comprising: a navigation computer,said navigation computer being capable of navigating said robot, saidnavigation computer comprising: said memory, and said computer-readablemedium, one or more positioning robotic motors, one or more aligningrobotic motors, and one or more focusing robotic motors; positioningsaid apparatus over said patient using said one or more positioningrobotic motors; providing fiducials disposed on said patient and in thesurroundings of said patient, said fiducials comprising one or morerecognizable patterns; aligning said apparatus with said patient andsaid surroundings using said fiducials and said one or more aligningrobotic motors; focusing said video camera of said apparatus on saidpatient using said one or more focusing robotic motors; recording videoof said patient using said video camera; sweeping said one or more edgesof luminosity across said patient using said actuator motor; capturingimages of said one or more edges of luminosity on said patient usingsaid video camera; collecting and analyzing said images using saidprocessor; forming a three-dimensional data representation from saidimages using said processor; generating said three-dimensional model ofsaid patient using said three-dimensional data representation using saidprocessor; storing said three-dimensional model to said navigationcomputer of said robot for use during said robotic brain surgery.
 39. Amethod of using an apparatus of claim 24 for brain surgery of a patient,said method comprising: scanning the brain of said patient prior to saidbrain surgery using other scanning techniques to generate a prior modelof said brain, said other scanning techniques comprising: an MRI scan, aCAT scan, a CT scan, a PET scan, or an ultrasound scan; storing saidprior model in said memory using said processor; providing fiducialsdisposed on said patient and in the surroundings of said patient, saidfiducials comprising one or more recognizable patterns; aligning saidapparatus with said patient and said surroundings using said fiducials;focusing said video camera of said apparatus on said patient; startingto record video of said patient using said video camera; sweeping saidone or more edges of luminosity across said patient using said actuatormotor; capturing images of said one or more edges of luminosity on saidpatient using said video camera; stopping to record video of saidpatient; collecting and analyzing said images using said processor;forming a three-dimensional data representation from said images usingsaid processor; generating said three-dimensional model of said patientusing said three-dimensional data representation using said processor;and comparing said three-dimensional model to said prior model usingsaid processor.
 40. A method of using an apparatus of claim 24 for brainsurgery of a patient with a rhythmically pulsing brain, said methodcomprising: providing fiducials disposed on said patient and in thesurroundings of said patient, said fiducials comprising one or morerecognizable patterns; aligning said apparatus with said rhythmicallypulsing brain of said patient and said surroundings using said fiducialsin order to scan a region of interest; focusing said video camera ofsaid apparatus on said rhythmically pulsing brain of said patient;starting to record video of said rhythmically pulsing brain of saidpatient using said video camera; determining the blood pressure waveprofile of said patient, said blood pressure wave profile comprising:the rhythmic pulsing of the blood pressure of said patient; sweepingsaid one or more edges of luminosity across said rhythmically pulsingbrain of said patient using said actuator motor; capturing images ofsaid one or more edges of luminosity on said rhythmically pulsing brainof said patient using said video camera; stopping to record video ofsaid rhythmically pulsing brain of said patient; collecting andanalyzing said images using said processor; eliminating the rhythmicmotion of said rhythmically pulsing brain of said patient using saidblood pressure wave profile and said processor; accounting for thescanning motion of said shadow caster using said processor; forming athree-dimensional data representation from said images and eliminatedsaid rhythmic motion of said rhythmically pulsing brain of said patientusing said processor; and generating said three-dimensional model ofsaid patient using said three-dimensional data representation using saidprocessor.
 41. An apparatus of claim 24, said apparatus furthercomprising a display, wherein said three-dimensional model is displayedon said display.
 42. An apparatus of claim 24, wherein said shadowcaster further comprises a liquid crystal matrix, said liquid crystalmatrix being capable of generating opaque regions.
 43. An apparatus ofclaim 24, wherein said shadow caster further comprises periodic opacityvariation.
 44. A method of using an apparatus of claim 24 for brainsurgery of a patient, said method comprising: providing a display;scanning the brain of said patient prior to said brain surgery usingother scanning techniques to generate a prior model of said brain, saidother scanning techniques comprising: an MRI scan, a CAT scan, a CTscan, a PET scan, or an ultrasound scan; storing said prior model insaid memory using said processor; aligning said apparatus with saidpatient; focusing said video camera of said apparatus on said patient;starting to record video of said patient using said video camera;sweeping said one or more edges of luminosity across said patient usingsaid actuator motor; capturing images of said one or more edges ofluminosity on said patient using said video camera; stopping to recordvideo of said patient; collecting and analyzing said images using saidprocessor; forming a three-dimensional data representation from saidimages using said processor; generating said three-dimensional model ofsaid patient using said three-dimensional data representation using saidprocessor; comparing said three-dimensional model to said prior modelusing said processor; and displaying said three-dimensional modeloverlaid on said prior model on said display using said processor.
 45. Amethod of using an apparatus of claim 24 for brain surgery of a patientwith a rhythmically pulsing brain, said method comprising: providing adisplay; aligning said apparatus with said rhythmically pulsing brain ofsaid patient; focusing said video camera of said apparatus on saidrhythmically pulsing brain of said patient; starting to record video ofsaid rhythmically pulsing brain of said patient using said video camera;determining the blood pressure wave profile of said patient, said bloodpressure wave profile comprising: the rhythmic pulsing of the bloodpressure of said patient; sweeping said one or more edges of luminosityacross said rhythmically pulsing brain of said patient using saidactuator motor; capturing images of said one or more edges of luminosityon said rhythmically pulsing brain of said patient using said videocamera; stopping to record video of said rhythmically pulsing brain ofsaid patient; collecting and analyzing said images using said processor;eliminating the rhythmic motion of said rhythmically pulsing brain ofsaid patient using said blood pressure wave profile and said processor;accounting for the scanning motion of said shadow caster using saidprocessor; forming a three-dimensional data representation from saidimages and eliminated said rhythmic motion of said rhythmically pulsingbrain of said patient using said processor; generating saidthree-dimensional model of said patient using said three-dimensionaldata representation using said processor; and displaying saidthree-dimensional model overlaid on said rhythmically pulsing brain onsaid display using said processor.
 46. An apparatus of claim 24, whereinsaid shadow caster further comprises a pattern.
 47. An apparatus ofclaim 1, wherein said front segment of said shadow caster furthercomprises multiple front sections.
 48. An apparatus of claim 1, whereinsaid side segments of said shadow caster further comprises multiple sidesections.
 49. An apparatus of claim 24, wherein said front segment ofsaid shadow caster further comprises multiple front sections.
 50. Anapparatus of claim 24, wherein said side segments of said shadow casterfurther comprises multiple side sections.